diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index c9550be..3e084ad 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -12,45 +12,79 @@ env: up_tamer_commit: "869e7ab06cf23c5541a47f46209159fd51d8021f" up_pyperplan_commit: "ac2b04d2d41c20b15f7c4143c19947f9704d1888" up_fast_downward_commit: "eb1f0d801e140fffbdd6c1eb2b13e483299ab240" + PYTHONUSERBASE: ${{ github.workspace }}/python_user_base + PYTHONPATH: ${{ github.workspace }}/ros_ws/install/upf_msgs/local/lib/python3.10/dist-packages:${{ github.workspace }}/python_user_base/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages + RMW_IMPLEMENTATION: rmw_fastrtps_cpp jobs: build-and-test: - runs-on: ${{ matrix.os }} - container: - image: osrf/ros:humble-desktop - strategy: - matrix: - os: [ubuntu-22.04] - fail-fast: false + runs-on: ubuntu-22.04 steps: - name: Checkout repository - uses: actions/checkout@v4 + uses: actions/checkout@v5 + - name: Set up ROS 2 sources and key + run: | + sudo apt-get update + sudo apt-get install -y curl gnupg lsb-release + sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | \ + gpg --dearmor | sudo tee /usr/share/keyrings/ros-archive-keyring.gpg > /dev/null + echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \ + sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null + sudo apt-get update + - name: Install missing dependencies + run: | + sudo apt-get update + sudo apt-get install -y libunwind-dev + - name: Install ROS 2 Humble and tools + run: | + sudo apt install -y ros-humble-desktop \ + ros-humble-behaviortree-cpp-v3 \ + ros-humble-test-msgs \ + ros-humble-qt-gui-cpp \ + ros-humble-rqt-gui-cpp \ + ros-humble-navigation2 \ + ros-humble-nav2-bringup \ + ros-humble-rosidl-adapter \ + python3-colcon-common-extensions \ + python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev - name: Install deps - run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev pip && pip install ConfigSpace && pip install typing_extensions==4.7.1 --upgrade + run: | + sudo apt-get update + sudo apt-get install -y wget python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev pip + python3 -m pip install --user --upgrade pip 'setuptools<80' wheel + python3 -m pip install --user 'numpy<2' 'scipy>=1.10,<1.12' 'ConfigSpace==1.2.0' 'protobuf>=5' - name: fix pytest name run: sudo ln -s /usr/bin/pytest-3 /usr/bin/pytest - name: Install unified planning from sources run: | git clone https://github.com/aiplan4eu/unified-planning.git cd unified-planning - python3 -m pip install -r requirements.txt - python3 -m pip install -r dev-requirements.txt - python3 -m pip install tarski[arithmetic] + python3 -m pip install --user -r requirements.txt + python3 -m pip install --user tarski[arithmetic] sudo apt install -y gringo - python3 -m pip install black==22.6.0 - python3 -m black --check --exclude=unified_planning/grpc/generated/ . - python3 -m mypy unified_planning - python3 scripts/test_imports.py + if [ "${ACT:-}" != "true" ]; then + python3 -m pip install --user -r dev-requirements.txt + python3 -m pip install --user black==22.6.0 + python3 -m black --check --exclude=unified_planning/grpc/generated/ . + python3 -m mypy unified_planning + python3 scripts/test_imports.py + fi cd .. git clone https://github.com/aiplan4eu/up-tamer - python3 -m pip install up-tamer/ + python3 -m pip install --user up-tamer/ git clone https://github.com/aiplan4eu/up-pyperplan - python3 -m pip install up-pyperplan/ - pip install unified_planning[tamer] + python3 -m pip install --user up-pyperplan/ + python3 -m pip install --user unified_planning[tamer] + python3 -m pip install --user 'numpy<2' 'scipy>=1.10,<1.12' 'ConfigSpace==1.2.0' 'protobuf>=5' - name: Create custom repos run: cp upf.repos /tmp/all.repos + - name: Initialize rosdep + run: | + sudo apt install -y python3-rosdep + sudo rosdep init || true + rosdep update - name: build and test - uses: ros-tooling/action-ros-ci@0.3.15 + uses: ros-tooling/action-ros-ci@0.4.8 with: package-name: upf4ros2 upf_msgs target-ros2-distro: humble @@ -58,16 +92,15 @@ jobs: colcon-defaults: | { "test": { - "parallel-workers" : 4 + "parallel-workers" : 1 } } - colcon-mixin-name: coverage-gcc colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/main/index.yaml - extra-args: "--event-handlers console_direct+ --return-code-on-test-failure" - name: Codecov - uses: codecov/codecov-action@v1.2.1 + if: ${{ env.ACT != 'true' }} + uses: codecov/codecov-action@v7 with: - file: ros_ws/lcov/total_coverage.info + files: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella # yml: ./codecov.yml diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..125e927 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,74 @@ +FROM ubuntu:jammy + +ENV DEBIAN_FRONTEND=noninteractive +ENV ROS_DISTRO=humble + +# 1. Dependencias básicas +RUN apt-get update && apt-get install -y \ + curl \ + gnupg2 \ + lsb-release \ + locales \ + software-properties-common \ + python3-pip \ + git \ + libreadline-dev \ + openjdk-17-jdk \ + openjdk-17-jre \ + wget \ + ca-certificates && \ + locale-gen en_US en_US.UTF-8 && \ + update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 + +# 2. Clave GPG y repositorio de ROS 2 +RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | \ + gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \ + > /etc/apt/sources.list.d/ros2.list && \ + apt-get update + +# 3. Instalar ROS 2 Humble +RUN apt-get install -y ros-humble-desktop ros-humble-behaviortree-cpp-v3 ros-humble-test-msgs ros-humble-qt-gui-cpp ros-humble-rqt-gui-cpp ros-humble-navigation2 ros-humble-nav2-bringup + +# 4. Instalar herramientas de desarrollo ROS 2 +RUN apt-get install -y \ + build-essential \ + cmake \ + python3-colcon-common-extensions \ + python3-vcstool \ + python3-rosdep \ + python3-argcomplete + +# 5. Inicializar rosdep +RUN rosdep init && rosdep update + +# 6. Instalar Python tools para UPF4ROS2 +RUN pip install --upgrade pip && \ + pip install \ + setuptools \ + typing_extensions==4.7.1 \ + ConfigSpace && \ + pip install --pre 'unified-planning[pyperplan,tamer]' + +RUN pip install --upgrade pip scipy + + +# 7. Crear workspace y clonar UPF4ROS2 +WORKDIR /workspace +RUN mkdir -p src && cd src && \ + git clone https://github.com/PlanSys2/UPF4ROS2.git && \ + vcs import . < UPF4ROS2/upf.repos + +# 8. Resolver dependencias con rosdep +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ + rosdep install --from-paths src --ignore-src -r -y + +# 9. Compilar +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ + colcon build --symlink-install + +# 10. Configurar entorno +RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \ + echo "source /workspace/install/setup.bash" >> ~/.bashrc + +CMD ["bash"] diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index a7af3e1..0217c78 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,24 @@ # UPF4ROS2 -[![main](https://github.com/igonzf/UPF4ROS2/actions/workflows/main.yaml/badge.svg)](https://github.com/igonzf/UPF4ROS2/actions/workflows/main.yaml) +[![main](https://github.com/PlanSys2/UPF4ROS2/actions/workflows/main.yaml/badge.svg)](https://github.com/PlanSys2/UPF4ROS2/actions/workflows/main.yaml) This repository integrates the Unified Planning Framework (UPF) into the ROS 2 ecosystem, providing a modular and standardized solution for automated planning in robotic systems. This project is part of the European initiative AIPlan4EU, which aims to develop automated planning tools that are accessible and applicable across different engineering domains. ## Install and building +``` +sudo apt update +sudo apt install \ + ros-humble-behaviortree-cpp-v3 \ + ros-humble-test-msgs \ + ros-humble-qt-gui-cpp \ + ros-humble-rqt-gui-cpp \ + ros-humble-navigation2 \ + ros-humble-nav2-bringup \ + python3-pip python3-colcon-common-extensions + +``` + ``` $ pip install --pre unified-planning[pyperplan,tamer] $ pip install ConfigSpace @@ -58,6 +71,23 @@ $ cd unified-planning $ bash run_tests.sh ``` +## Docker + +A `Dockerfile` is provided in the repository to build a containerized environment for UPF4ROS2. This can be useful to ensure all dependencies are correctly installed and the development environment is reproducible. + +To build the Docker image: + +``` +$ cd /src/UPF4ROS2 +$ docker build -t upf4ros2 . +``` + +To run the container: + +``` +docker run -it upf4ros2 +``` + ## Usage `$ ros2 launch upf4ros2 upf4ros2.launch.py` @@ -70,9 +100,9 @@ $ bash run_tests.sh - `/upf4ros2/add_fluent` `[upf_msgs/srv/AddFluent]` - `/upf4ros2/add_goal` `[upf_msgs/srv/AddGoal]` - `/upf4ros2/add_object` `[upf_msgs/srv/AddObject]` - - `/upf4ros2/new_problem` [upf_msgs/srv/NewProblem]` - - `/upf4ros2/set_initial_value` [upf_msgs/srv/SetInitialValue]` - - `/upf4ros2/set_problem` [upf_msgs/srv/SetProblem]` + - `/upf4ros2/new_problem` `[upf_msgs/srv/NewProblem]` + - `/upf4ros2/set_initial_value` `[upf_msgs/srv/SetInitialValue]` + - `/upf4ros2/set_problem` `[upf_msgs/srv/SetProblem]` - Actions: - `/upf4ros2/planOneShotPDDL` `[upf_msgs/action/PDDLPlanOneShot]` - `/upf4ros2/planOneShot` `[upf_msgs/action/PlanOneShot]` @@ -130,6 +160,30 @@ There are two alternatives: - Replanning case: one of the waypoints is not reachable and it is necessary to replan. Illustrated in this [video](https://youtu.be/UJncg7GPCro) +### [Demo 3 - Harvest](https://youtu.be/21oZHhl7kcA) + +This demo consists of creating the problem from a ROS 2 node to navigate a crop field to perform a harvest collection mision. +For run this demo I used the simulated Leo Rover robot in Gazebo Ignition Fortress from this [repo](https://github.com/luispri2001/gps_ignition_simulation) + +`$ ros2 launch upf4ros2 upf4ros2.launch.py` + +`$ ros2 launch upf4ros2_demo upf4ros2_demo3_harvest.launch.py` + +## Metrics + +| demo | planner | mean_time_s | median_time_s | std_time_s | min_s | max_s | num_runs | +| ---------------- | -------- | ----------- | ------------- | ---------- | ------ | ------ | -------- | +| Demo 1 - PDDL | UPF | 0.06891 | 0.0687 | 0.00078 | 0.0678 | 0.0706 | 10 | +| Demo 1 - PDDL | UPF4ROS2 | 0.08873 | 0.0667 | 0.03617 | 0.0653 | 0.1460 | 10 | +| Demo 1 | UPF | 0.04425 | 0.0442 | 0.00093 | 0.0433 | 0.0467 | 10 | +| Demo 1 | UPF4ROS2 | 0.1766 | 0.1817 | 0.02737 | 0.1009 | 0.1949 | 10 | +| Demo 2 | UPF | 0.04439 | 0.0444 | 0.00035 | 0.0438 | 0.0448 | 10 | +| Demo 2 | UPF4ROS2 | 0.18429 | 0.1816 | 0.00868 | 0.1771 | 0.2035 | 10 | +| Demo 3 | UPF | 0.04703 | 0.0466 | 0.0013 | 0.0454 | 0.0498 | 10 | +| Demo 3 | UPF4ROS2 | 0.22318 | 0.2258 | 0.02218 | 0.1767 | 0.2592 | 10 | +| Demo 3 - Harvest | UPF | 0.18 | 0.04965 | 0.0048 | 0.0482 | 0.064 | 10 | +| Demo 3 - Harvest | UPF4ROS2 | 0.30883 | 0.31305 | 0.05294 | 0.1778 | 0.3678 | 10 | + ## Acknowledgments diff --git a/data/metrics_demos.csv b/data/metrics_demos.csv new file mode 100644 index 0000000..9eb0873 --- /dev/null +++ b/data/metrics_demos.csv @@ -0,0 +1,11 @@ +demo,planner,mean_time_s,median_time_s,std_time_s,min_s, max_s,num_runs, +Demo 1 - PDDL,UPF,0.06891,0.0687,0.00078,0.0678,0.0706,10 +Demo 1 - PDDL,UPF4ROS2,0.08873,0.0667,0.03617,0.0653,0.1460,10 +Demo 1,UPF,0.04425,0.0442,0.00093,0.0433,0.0467,10 +Demo 1,UPF4ROS2,0.1766,0.1817,0.02737,0.1009,0.1949,10 +Demo 2,UPF,0.04439,0.0444,0.00035,0.0438,0.0448,10 +Demo 2,UPF4ROS2,0.18429,0.1816,0.00868,0.1771,0.2035,10 +Demo 3,UPF,0.04703,0.0466,0.0013,0.0454,0.0498,10 +Demo 3,UPF4ROS2,0.22318,0.2258,0.02218,0.1767,0.2592,10 +Demo 3 - Harvest,UPF,0.18,0.04965,0.0048,0.0482,0.064,10 +Demo 3 - Harvest,UPF4ROS2,0.30883,0.31305,0.05294,0.1778,0.3678,10 diff --git a/data/metrics_demos.md b/data/metrics_demos.md new file mode 100644 index 0000000..d43a2a7 --- /dev/null +++ b/data/metrics_demos.md @@ -0,0 +1,12 @@ +demo | planner | mean_time_s | median_time_s | std_time_s | min_s | max_s | num_runs | +------------------|------------|---------------|-----------------|--------------|----------|----------|------------|--- +Demo 1 - PDDL | UPF | 0.06891 | 0.0687 | 0.00078 | 0.0678 | 0.0706 | 10 | +Demo 1 - PDDL | UPF4ROS2 | 0.08873 | 0.0667 | 0.03617 | 0.0653 | 0.1460 | 10 | +Demo 1 | UPF | 0.04425 | 0.0442 | 0.00093 | 0.0433 | 0.0467 | 10 | +Demo 1 | UPF4ROS2 | 0.1766 | 0.1817 | 0.02737 | 0.1009 | 0.1949 | 10 | +Demo 2 | UPF | 0.04439 | 0.0444 | 0.00035 | 0.0438 | 0.0448 | 10 | +Demo 2 | UPF4ROS2 | 0.18429 | 0.1816 | 0.00868 | 0.1771 | 0.2035 | 10 | +Demo 3 | UPF | 0.04703 | 0.0466 | 0.0013 | 0.0454 | 0.0498 | 10 | +Demo 3 | UPF4ROS2 | 0.22318 | 0.2258 | 0.02218 | 0.1767 | 0.2592 | 10 | +Demo 3 - Harvest | UPF | 0.18 | 0.04965 | 0.0048 | 0.0482 | 0.064 | 10 | +Demo 3 - Harvest | UPF4ROS2 | 0.30883 | 0.31305 | 0.05294 | 0.1778 | 0.3678 | 10 | diff --git a/data/plansys2_replanning_cases/native/run_20260602_134748_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_134748_events.jsonl new file mode 100644 index 0000000..22dc87b --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_134748_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.005478331, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14782463567756, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.005938214, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14782464027639, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.005972438, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14782464061863} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.006081493, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14782464170918} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.18711245, "reason": "initial", "relative_time_s": 0.2060923, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14782664181725} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.207012056, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14782665101481} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 52.305559116, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834763648541} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 52.305643754, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834763733179} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 52.305663461, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 14834763752886, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 52.305695061, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834763784486} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 52.305718244, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834763807669, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 52.306463523, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834764552948} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.175345466, "reason": "replan_1", "relative_time_s": 52.482092391, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834940181816} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 52.482972002, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14834941061427} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 103.408310702, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14885866400127} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 103.408414848, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 14885866504273} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 103.40845869, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14885866548115} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 103.408514415, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14885866603840, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 103.409323463, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14885867412888} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.172870161, "reason": "replan_2", "relative_time_s": 103.582538231, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14886040627656} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 103.583068806, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14886041158231} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 134.539172954, "replanning_case": "both", "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14916997262379} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_134748_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 134.533308479, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.18711245, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.175345466, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.172870161, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.18711245, "planning_time_total_s": 0.535328077, "recovery_success_after_disruption": true, "relative_time_s": 134.539726293, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.175345466, "replanning_time_mean_s": 0.17410781349999999, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_134748", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 14916997815718, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_134748_summary.json b/data/plansys2_replanning_cases/native/run_20260602_134748_summary.json new file mode 100644 index 0000000..8d5ac88 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_134748_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_134748_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 134.533308479, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.18711245, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.175345466, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.172870161, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.18711245, + "planning_time_total_s": 0.535328077, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.175345466, + "replanning_time_mean_s": 0.17410781349999999, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_134748", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_135512_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_135512_events.jsonl new file mode 100644 index 0000000..2d22b23 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_135512_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003588074, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15226561108603, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004217996, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15226561738525, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004256158, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15226561776687} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.004365203, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15226561885732} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.173910343, "reason": "initial", "relative_time_s": 0.186593556, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15226744114085} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.187584095, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15226745104624} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 53.98145502, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280538975549} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.981592398, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280539112927} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 53.981629698, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15280539150227, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 53.981672519, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280539193048} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 53.981708075, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280539228604, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 53.98247249, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280539993019} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.167170684, "reason": "replan_1", "relative_time_s": 54.149852097, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280707372626} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.150696281, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15280708216810} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 105.576390936, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15332133911465} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 105.576460056, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 15332133980585} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 105.576503186, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15332134023715} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 105.576528314, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15332134048843, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 105.577009146, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15332134529675} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.164780199, "reason": "replan_2", "relative_time_s": 105.741966036, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15332299486565} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 105.742477145, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15332299997674} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 147.297369613, "replanning_case": "both", "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15373854890142} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_135512_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 147.293209867, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.173910343, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.167170684, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.164780199, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.173910343, "planning_time_total_s": 0.5058612259999999, "recovery_success_after_disruption": true, "relative_time_s": 147.297703781, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.167170684, "replanning_time_mean_s": 0.1659754415, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_135512", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 15373855224310, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_135512_summary.json b/data/plansys2_replanning_cases/native/run_20260602_135512_summary.json new file mode 100644 index 0000000..d828c37 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_135512_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_135512_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 147.293209867, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.173910343, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.167170684, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.164780199, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.173910343, + "planning_time_total_s": 0.5058612259999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.167170684, + "replanning_time_mean_s": 0.1659754415, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_135512", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_135837_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_135837_events.jsonl new file mode 100644 index 0000000..9da65c7 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_135837_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.002524658, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15432246161895, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.00292008, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15432246557317, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.002960786, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15432246598023} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.003035687, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15432246672924} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.194357887, "reason": "initial", "relative_time_s": 0.205571172, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15432449208409} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.206590084, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15432450227321} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 55.334894148, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487578531385} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 55.334984608, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487578621845} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 55.335005858, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15487578643095, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 55.335032358, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487578669595} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 55.335056804, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487578694041, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 55.335756607, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487579393844} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.19972444, "reason": "replan_1", "relative_time_s": 55.535768225, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487779405462} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 55.536544862, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15487780182099} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 106.612282782, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15538855920019} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 106.612360538, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 15538855997775} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 106.612414219, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15538856051456} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 106.612461417, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15538856098654, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 106.613022551, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15538856659788} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.177429187, "reason": "replan_2", "relative_time_s": 106.790646353, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15539034283590} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 106.791204079, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15539034841316} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 164.597633474, "replanning_case": "both", "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15596841270711} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_135837_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 164.594804966, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.194357887, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.19972444, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.177429187, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.194357887, "planning_time_total_s": 0.571511514, "recovery_success_after_disruption": true, "relative_time_s": 164.598099639, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.19972444, "replanning_time_mean_s": 0.1885768135, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_135837", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 15596841736876, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_135837_summary.json b/data/plansys2_replanning_cases/native/run_20260602_135837_summary.json new file mode 100644 index 0000000..5e35dbd --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_135837_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_135837_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 164.594804966, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.194357887, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.19972444, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.177429187, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.194357887, + "planning_time_total_s": 0.571511514, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.19972444, + "replanning_time_mean_s": 0.1885768135, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_135837", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140125_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_140125_events.jsonl new file mode 100644 index 0000000..cd7ab2d --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140125_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.261490989, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15600374319443, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.26531208, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15600378140534, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.265367464, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15600378195918} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.26548758, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15600378316034} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.249993151, "reason": "initial", "relative_time_s": 0.528493472, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15600641321926} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.530205686, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15600643034140} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 52.929075639, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653041904093} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 52.929154938, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653041983392} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 52.929191096, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15653042019550, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 52.929216364, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653042044818} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 52.929244136, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653042072590, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 52.92986477, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653042693224} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.187822115, "reason": "replan_1", "relative_time_s": 53.117891931, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653230720385} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.119247565, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15653232076019} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 104.045158012, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15704157986466} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 104.04527951, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 15704158107964} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 104.04532783, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15704158156284} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 104.045381802, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15704158210256, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 104.046181623, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15704159010077} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.180194801, "reason": "replan_2", "relative_time_s": 104.226820637, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15704339649091} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 104.227720987, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15704340549441} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 135.374503678, "replanning_case": "both", "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15735487332132} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140125_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 135.109223186, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.249993151, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.187822115, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.180194801, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.249993151, "planning_time_total_s": 0.6180100669999999, "recovery_success_after_disruption": true, "relative_time_s": 135.374823819, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.187822115, "replanning_time_mean_s": 0.18400845799999999, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_140125", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 15735487652273, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140125_summary.json b/data/plansys2_replanning_cases/native/run_20260602_140125_summary.json new file mode 100644 index 0000000..88c4663 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140125_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140125_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 135.109223186, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.249993151, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.187822115, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.180194801, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.249993151, + "planning_time_total_s": 0.6180100669999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.187822115, + "replanning_time_mean_s": 0.18400845799999999, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_140125", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140345_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_140345_events.jsonl new file mode 100644 index 0000000..dc83e72 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140345_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.00359653, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15739783884019, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004121796, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15739784409285, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004160368, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15739784447857} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.00432152, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15739784609009} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.192555308, "reason": "initial", "relative_time_s": 0.20613316, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15739986420649} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.207311341, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15739987598830} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 59.756959931, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799537247420} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 59.757082631, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799537370120} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 59.757134709, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15799537422198, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 59.757174954, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799537462443} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 59.757213787, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799537501276, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 59.758283495, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799538570984} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.174250655, "reason": "replan_1", "relative_time_s": 59.932927849, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799713215338} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 59.934272383, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15799714559872} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 110.859698422, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15850639985911} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 110.85979333, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 15850640080819} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 110.859843494, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15850640130983} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 110.859876126, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15850640163615, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 110.860457056, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15850640744545} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.166120468, "reason": "replan_2", "relative_time_s": 111.026775175, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15850807062664} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 111.027367106, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15850807654595} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 166.943829204, "replanning_case": "both", "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15906724116693} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140345_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 166.939776939, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.192555308, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.174250655, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.166120468, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.192555308, "planning_time_total_s": 0.532926431, "recovery_success_after_disruption": true, "relative_time_s": 166.944190252, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.174250655, "replanning_time_mean_s": 0.1701855615, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_140345", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 15906724477741, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140345_summary.json b/data/plansys2_replanning_cases/native/run_20260602_140345_summary.json new file mode 100644 index 0000000..cd1ad79 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140345_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140345_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 166.939776939, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.192555308, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.174250655, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.166120468, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.192555308, + "planning_time_total_s": 0.532926431, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.174250655, + "replanning_time_mean_s": 0.1701855615, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_140345", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140658_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_140658_events.jsonl new file mode 100644 index 0000000..ec75581 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140658_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.002885846, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15932834448180, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003397346, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15932834959680, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003422053, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15932834984387} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.00350042, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15932835062754} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.204649024, "reason": "initial", "relative_time_s": 0.216427018, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15933047989352} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.218122931, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15933049685265} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 50.761164763, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983592727097} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 50.761284888, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983592847222} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 50.761334952, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15983592897286, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 50.761383934, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983592946268} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 50.761447263, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983593009597, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 50.762502052, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983594064386} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.170791484, "reason": "replan_1", "relative_time_s": 50.93373271, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983765295044} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 50.934545225, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15983766107559} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 101.759477685, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16034591040019} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 101.759573294, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 16034591135628} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 101.75960333, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16034591165664} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 101.759628738, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16034591191072, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 101.760185904, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16034591748238} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.172812947, "reason": "replan_2", "relative_time_s": 101.933237108, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16034764799442} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 101.933833728, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16034765396062} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 145.819435505, "replanning_case": "both", "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16078650997839} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140658_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 145.816137776, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.204649024, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.170791484, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.172812947, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.204649024, "planning_time_total_s": 0.548253455, "recovery_success_after_disruption": true, "relative_time_s": 145.819831188, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.170791484, "replanning_time_mean_s": 0.1718022155, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_140658", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 16078651393522, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140658_summary.json b/data/plansys2_replanning_cases/native/run_20260602_140658_summary.json new file mode 100644 index 0000000..ec5698c --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140658_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140658_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 145.816137776, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.204649024, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.170791484, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.172812947, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.204649024, + "planning_time_total_s": 0.548253455, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.170791484, + "replanning_time_mean_s": 0.1718022155, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_140658", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140929_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_140929_events.jsonl new file mode 100644 index 0000000..245bb26 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140929_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003183905, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16083518747481, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003608341, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16083519171917, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003637045, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16083519200621} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.003727635, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16083519291211} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.171324474, "reason": "initial", "relative_time_s": 0.183378576, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16083698942152} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.184719242, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16083700282818} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 54.133490484, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137649054060} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.133564183, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137649127759} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 54.133583619, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 16137649147195, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 54.133608706, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137649172282} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.133631609, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137649195185, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.134270558, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137649834134} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.15569858, "reason": "replan_1", "relative_time_s": 54.290165155, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137805728731} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.291012636, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16137806576212} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 105.166555466, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16188682119042} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 105.166629444, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 16188682193020} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 105.166655654, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16188682219230} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 105.166688976, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16188682252552, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 105.167229961, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16188682793537} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.181282873, "reason": "replan_2", "relative_time_s": 105.348712269, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16188864275845} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 105.349287478, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16188864851054} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 158.196001635, "replanning_case": "both", "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16241711565211} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140929_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 158.192456623, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.171324474, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.15569858, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.181282873, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.171324474, "planning_time_total_s": 0.508305927, "recovery_success_after_disruption": true, "relative_time_s": 158.196332095, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.15569858, "replanning_time_mean_s": 0.16849072650000002, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_140929", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 16241711895671, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_140929_summary.json b/data/plansys2_replanning_cases/native/run_20260602_140929_summary.json new file mode 100644 index 0000000..c9b69c4 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_140929_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_140929_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 158.192456623, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.171324474, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.15569858, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.181282873, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.171324474, + "planning_time_total_s": 0.508305927, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.15569858, + "replanning_time_mean_s": 0.16849072650000002, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_140929", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_141258_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_141258_events.jsonl new file mode 100644 index 0000000..42883c0 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_141258_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006695626, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16292781995195, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.007442878, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16292782742447, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.007488724, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16292782788293} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.007628296, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16292782927865} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.183191876, "reason": "initial", "relative_time_s": 0.201412881, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16292976712450} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.203149941, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16292978449510} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 60.51410677, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353289406339} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 60.514228328, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353289527897} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 60.514264826, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 16353289564395, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 60.514310723, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353289610292} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 60.514350066, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353289649635, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 60.515435123, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353290734692} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.168426135, "reason": "replan_1", "relative_time_s": 60.684162463, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353459462032} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 60.684926136, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16353460225705} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 111.359589336, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16404134888905} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 111.35968214, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 16404134981709} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 111.359716875, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16404135016444} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 111.359741601, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16404135041170, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 111.360222394, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16404135521963} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.187749549, "reason": "replan_2", "relative_time_s": 111.548165486, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16404323465055} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 111.548858076, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16404324157645} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 159.234663525, "replanning_case": "both", "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16452009963094} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_141258_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 159.227286971, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.183191876, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.168426135, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.187749549, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.183191876, "planning_time_total_s": 0.53936756, "recovery_success_after_disruption": true, "relative_time_s": 159.235376523, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.168426135, "replanning_time_mean_s": 0.178087842, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_141258", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 16452010676092, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_141258_summary.json b/data/plansys2_replanning_cases/native/run_20260602_141258_summary.json new file mode 100644 index 0000000..894c31a --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_141258_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_141258_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 159.227286971, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.183191876, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.168426135, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.187749549, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.183191876, + "planning_time_total_s": 0.53936756, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.168426135, + "replanning_time_mean_s": 0.178087842, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_141258", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_141553_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_141553_events.jsonl new file mode 100644 index 0000000..fec3157 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_141553_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.014840552, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16467379311147, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.022113511, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16467386584106, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.022388136, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16467386858731} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.022531846, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16467387002441} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.206275366, "reason": "initial", "relative_time_s": 0.247894894, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16467612365489} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.248880424, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16467613351019} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 53.960591658, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521325062253} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.96068882, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521325159415} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 53.96072065, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 16521325191245, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 53.960751959, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521325222554} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 53.960782326, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521325252921, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 53.961957782, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521326428377} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.166193394, "reason": "replan_1", "relative_time_s": 54.128576244, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521493046839} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.129354515, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16521493825110} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 105.149394822, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16572513865417} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 105.149464733, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 16572513935328} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 105.149492045, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16572513962640} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 105.149524726, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16572513995321, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 105.150052627, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16572514523222} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.16978222, "reason": "replan_2", "relative_time_s": 105.320010146, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16572684480741} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 105.32056131, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16572685031905} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 132.951183502, "replanning_case": "both", "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16600315654097} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_141553_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 132.928905903, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.206275366, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.166193394, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.16978222, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.206275366, "planning_time_total_s": 0.5422509799999999, "recovery_success_after_disruption": true, "relative_time_s": 132.951522157, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.166193394, "replanning_time_mean_s": 0.167987807, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_141553", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 16600315992752, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_141553_summary.json b/data/plansys2_replanning_cases/native/run_20260602_141553_summary.json new file mode 100644 index 0000000..181deb0 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_141553_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_141553_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 132.928905903, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.206275366, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.166193394, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.16978222, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.206275366, + "planning_time_total_s": 0.5422509799999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.166193394, + "replanning_time_mean_s": 0.167987807, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_141553", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_141839_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_141839_events.jsonl new file mode 100644 index 0000000..f80e08b --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_141839_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.00382598, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16633733333800, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004326159, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16633733833979, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004351616, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16633733859436} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.004440573, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16633733948393} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.176603901, "reason": "initial", "relative_time_s": 0.190028965, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16633919536785} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.190919676, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16633920427496} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 51.27133978, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685000847600} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 51.27144624, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685000954060} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 51.271479913, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 16685000987733, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 51.271530859, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685001038679} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 51.27157907, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685001086890, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 51.272427622, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685001935442} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.171678266, "reason": "replan_1", "relative_time_s": 51.444370054, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685173877874} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 51.445160348, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16685174668168} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 102.215626331, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16735945134151} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 102.215732641, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 16735945240461} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 102.215791792, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16735945299612} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 102.21583341, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16735945341230, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 102.216622712, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16735946130532} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.184848604, "reason": "replan_2", "relative_time_s": 102.401830198, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16736131338018} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 102.402825476, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16736132333296} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 148.074768625, "replanning_case": "both", "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16781804276445} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_141839_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 148.070527336, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.176603901, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.171678266, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.184848604, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.176603901, "planning_time_total_s": 0.5331307710000001, "recovery_success_after_disruption": true, "relative_time_s": 148.07515508, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.171678266, "replanning_time_mean_s": 0.178263435, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_141839", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 16781804662900, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_141839_summary.json b/data/plansys2_replanning_cases/native/run_20260602_141839_summary.json new file mode 100644 index 0000000..6632e71 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_141839_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_141839_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 148.070527336, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.176603901, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.171678266, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.184848604, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.176603901, + "planning_time_total_s": 0.5331307710000001, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.171678266, + "replanning_time_mean_s": 0.178263435, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_141839", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_142150_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_142150_events.jsonl new file mode 100644 index 0000000..cde9b64 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_142150_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006577423, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16824954569082, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.00981514, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16824957806799, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.009894418, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16824957886077} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.010119411, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16824958111070} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.177389155, "reason": "initial", "relative_time_s": 0.203748983, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16825151740642} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.204677856, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16825152669515} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 53.786786116, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878734777775} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.786862639, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878734854298} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 53.786886484, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 16878734878143, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 53.786918825, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878734910484} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 53.786942148, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878734933807, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 53.787605253, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878735596912} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.173791612, "reason": "replan_1", "relative_time_s": 53.961592823, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878909584482} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.96308313, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16878911074789} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 104.532831523, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16929480823182} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 104.532976535, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 16929480968194} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 104.533032009, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16929481023668} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 104.533090228, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16929481081887, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 104.533951354, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16929481943013} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.186362094, "reason": "replan_2", "relative_time_s": 104.720874561, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16929668866220} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 104.721690011, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16929669681670} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 150.966464997, "replanning_case": "both", "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16975914456656} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_142150_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 150.956671537, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.177389155, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.173791612, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.186362094, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.177389155, "planning_time_total_s": 0.537542861, "recovery_success_after_disruption": true, "relative_time_s": 150.966815775, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.173791612, "replanning_time_mean_s": 0.180076853, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_142150", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 16975914807434, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_142150_summary.json b/data/plansys2_replanning_cases/native/run_20260602_142150_summary.json new file mode 100644 index 0000000..e55527d --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_142150_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_142150_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 150.956671537, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.177389155, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.173791612, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.186362094, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.177389155, + "planning_time_total_s": 0.537542861, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.173791612, + "replanning_time_mean_s": 0.180076853, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_142150", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_142426_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_142426_events.jsonl new file mode 100644 index 0000000..b6e3f8c --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_142426_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.005271203, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16981000926254, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006711516, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16981002366567, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006762802, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16981002417853} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.007128348, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16981002783399} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.202605457, "reason": "initial", "relative_time_s": 0.224153126, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16981219808177} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.225329273, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 16981220984324} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 55.744254941, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036739909992} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 55.744327116, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036739982167} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 55.744352534, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 17036740007585, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 55.74437692, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036740031971} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 55.744400965, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036740056016, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 55.74506451, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036740719561} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.167874027, "reason": "replan_1", "relative_time_s": 55.913128163, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036908783214} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 55.914215724, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17036909870775} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 106.690354818, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17087686009869} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 106.690458733, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 17087686113784} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 106.690492807, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17087686147858} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 106.690522853, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17087686177904, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 106.691088334, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17087686743385} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.159137271, "reason": "replan_2", "relative_time_s": 106.850422976, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17087846078027} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 106.851031127, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17087846686178} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 141.036675464, "replanning_case": "both", "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17122032330515} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_142426_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 141.029999085, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.202605457, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.167874027, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.159137271, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.202605457, "planning_time_total_s": 0.5296167549999999, "recovery_success_after_disruption": true, "relative_time_s": 141.036972782, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.167874027, "replanning_time_mean_s": 0.163505649, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_142426", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 17122032627833, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_142426_summary.json b/data/plansys2_replanning_cases/native/run_20260602_142426_summary.json new file mode 100644 index 0000000..718fe92 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_142426_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_142426_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 141.029999085, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.202605457, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.167874027, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.159137271, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.202605457, + "planning_time_total_s": 0.5296167549999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.167874027, + "replanning_time_mean_s": 0.163505649, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_142426", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_142843_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_142843_events.jsonl new file mode 100644 index 0000000..f742ea5 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_142843_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.005714915, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17237789710611, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006416863, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17237790412559, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006451678, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17237790447374} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.006576442, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17237790572138} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.201051781, "reason": "initial", "relative_time_s": 0.234329163, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17238018324859} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.236189334, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17238020185030} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 54.187026035, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17291971021731} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.18714041, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17291971136106} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 54.187163373, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 17291971159069, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 54.187185835, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17291971181531} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.187208698, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17291971204394, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.187809355, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17291971805051} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.166556214, "reason": "replan_1", "relative_time_s": 54.354565345, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17292138561041} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.355344978, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17292139340674} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 105.426011828, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17343210007524} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 105.426096577, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 17343210092273} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 105.426153774, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17343210149470} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 105.426186385, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17343210182081, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 105.42671633, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17343210712026} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.178096822, "reason": "replan_2", "relative_time_s": 105.604995995, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17343388991691} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 105.605639273, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17343389634969} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 139.146944839, "replanning_case": "both", "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17376930940535} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_142843_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 139.140606273, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.201051781, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.166556214, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.178096822, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.201051781, "planning_time_total_s": 0.5457048170000001, "recovery_success_after_disruption": true, "relative_time_s": 139.147323009, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.166556214, "replanning_time_mean_s": 0.17232651799999998, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_142843", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 17376931318705, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_142843_summary.json b/data/plansys2_replanning_cases/native/run_20260602_142843_summary.json new file mode 100644 index 0000000..a2ca66b --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_142843_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_142843_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 139.140606273, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.201051781, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.166556214, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.178096822, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.201051781, + "planning_time_total_s": 0.5457048170000001, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.166556214, + "replanning_time_mean_s": 0.17232651799999998, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_142843", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_143116_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_143116_events.jsonl new file mode 100644 index 0000000..b505f73 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_143116_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006323597, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17391245957829, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.007976359, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17391247610591, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.008072059, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17391247706291} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.008294867, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17391247929099} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.181633299, "reason": "initial", "relative_time_s": 0.203896781, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17391443531013} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.204772564, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17391444406796} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 55.927191774, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447166826006} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 55.927263839, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447166898071} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 55.927286802, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 17447166921034, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 55.927312941, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447166947173} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 55.927335083, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447166969315, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 55.928132419, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447167766651} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.155754302, "reason": "replan_1", "relative_time_s": 56.084489342, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447324123574} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 56.085322326, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17447324956558} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 106.95568598, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17498195320212} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 106.955833918, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 17498195468150} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 106.955914278, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17498195548510} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 106.955962359, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17498195596591, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 106.956795602, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17498196429834} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.164547544, "reason": "replan_2", "relative_time_s": 107.121576946, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17498361211178} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 107.122099667, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17498361733899} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 145.07135075, "replanning_case": "both", "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17536310984982} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_143116_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 145.063377176, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.181633299, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.155754302, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.164547544, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.181633299, "planning_time_total_s": 0.501935145, "recovery_success_after_disruption": true, "relative_time_s": 145.071726485, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.155754302, "replanning_time_mean_s": 0.160150923, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_143116", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 17536311360717, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_143116_summary.json b/data/plansys2_replanning_cases/native/run_20260602_143116_summary.json new file mode 100644 index 0000000..e30ba7a --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_143116_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_143116_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 145.063377176, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.181633299, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.155754302, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.164547544, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.181633299, + "planning_time_total_s": 0.501935145, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.155754302, + "replanning_time_mean_s": 0.160150923, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_143116", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_143351_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_143351_events.jsonl new file mode 100644 index 0000000..c053643 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_143351_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.002564693, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17545809397601, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003094257, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17545809927165, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003126127, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17545809959035} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.003235663, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17545810068571} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.192003591, "reason": "initial", "relative_time_s": 0.206700693, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17546013533601} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.207733642, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17546014566550} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 56.176873088, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17601983705996} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 56.177020204, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17601983853112} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 56.177063676, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 17601983896584, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 56.177109862, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17601983942770} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 56.17715661, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17601983989518, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 56.178401406, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17601985234314} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.185884127, "reason": "replan_1", "relative_time_s": 56.364693809, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17602171526717} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 56.366158868, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17602172991776} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 107.493050177, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17653299883085} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 107.493117654, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 17653299950562} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 107.493143813, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17653299976721} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 107.493176855, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17653300009763, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 107.493701319, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17653300534227} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.158604898, "reason": "replan_2", "relative_time_s": 107.652496684, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17653459329592} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 107.653033091, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17653459865999} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 148.870492745, "replanning_case": "both", "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17694677325653} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_143351_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 148.867458761, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.192003591, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.185884127, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.158604898, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.192003591, "planning_time_total_s": 0.536492616, "recovery_success_after_disruption": true, "relative_time_s": 148.870812725, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.185884127, "replanning_time_mean_s": 0.1722445125, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_143351", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 17694677645633, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_143351_summary.json b/data/plansys2_replanning_cases/native/run_20260602_143351_summary.json new file mode 100644 index 0000000..c5d84e4 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_143351_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_143351_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 148.867458761, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.192003591, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.185884127, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.158604898, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.192003591, + "planning_time_total_s": 0.536492616, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.185884127, + "replanning_time_mean_s": 0.1722445125, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_143351", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_143627_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_143627_events.jsonl new file mode 100644 index 0000000..1f51e8f --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_143627_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.002832366, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17701803372462, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003379543, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17701803919639, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003411112, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17701803951208} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.003536447, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17701804076543} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.19021442, "reason": "initial", "relative_time_s": 0.204806656, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17702005346752} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.206399856, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17702006939952} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 74.166558514, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17775967098610} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 74.166701662, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17775967241758} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 74.166749252, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 17775967289348, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 74.166793525, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17775967333621} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 74.166833309, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17775967373405, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 74.167860858, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17775968400954} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.168336792, "reason": "replan_1", "relative_time_s": 74.336560821, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17776137100917} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 74.337929119, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17776138469215} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 125.364395506, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17827164935602} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 125.364483541, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 17827165023637} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 125.364510512, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17827165050608} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 125.364535939, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17827165076035, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 125.365055645, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17827165595741} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.157917427, "reason": "replan_2", "relative_time_s": 125.523154492, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17827323694588} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 125.523730023, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17827324270119} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 185.338403073, "replanning_case": "both", "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17887138943169} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_143627_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 185.335085397, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.19021442, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.168336792, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.157917427, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.19021442, "planning_time_total_s": 0.516468639, "recovery_success_after_disruption": true, "relative_time_s": 185.338764071, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.168336792, "replanning_time_mean_s": 0.1631271095, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_143627", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 17887139304167, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_143627_summary.json b/data/plansys2_replanning_cases/native/run_20260602_143627_summary.json new file mode 100644 index 0000000..969d945 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_143627_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_143627_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 185.335085397, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.19021442, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.168336792, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.157917427, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.19021442, + "planning_time_total_s": 0.516468639, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.168336792, + "replanning_time_mean_s": 0.1631271095, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_143627", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_144009_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_144009_events.jsonl new file mode 100644 index 0000000..5777657 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_144009_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.006918975, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17923397164594, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.008087949, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17923398333568, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.008130038, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17923398375657} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.008230416, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17923398476035} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.186165892, "reason": "initial", "relative_time_s": 0.211321873, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17923601567492} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.212961059, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17923603206678} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 54.857174276, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978247419895} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.857286587, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978247532206} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 54.857338545, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 17978247584164, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 54.857395652, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978247641271} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.857434004, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978247679623, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.858506166, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978248751785} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.191480796, "reason": "replan_1", "relative_time_s": 55.050228706, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978440474325} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 55.051065867, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 17978441311486} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 106.026774851, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18029417020470} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 106.026851514, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 18029417097133} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 106.026881631, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18029417127250} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 106.026914723, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18029417160342, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 106.027416154, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18029417661773} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.175929111, "reason": "replan_2", "relative_time_s": 106.203566429, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18029593812048} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 106.204102686, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18029594348305} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 157.750892576, "replanning_case": "both", "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18081141138195} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_144009_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 157.742877373, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.186165892, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.191480796, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.175929111, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.186165892, "planning_time_total_s": 0.553575799, "recovery_success_after_disruption": true, "relative_time_s": 157.751320078, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.191480796, "replanning_time_mean_s": 0.1837049535, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_144009", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 18081141565697, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_144009_summary.json b/data/plansys2_replanning_cases/native/run_20260602_144009_summary.json new file mode 100644 index 0000000..68bbb2a --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_144009_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_144009_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 157.742877373, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.186165892, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.191480796, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.175929111, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.186165892, + "planning_time_total_s": 0.553575799, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.191480796, + "replanning_time_mean_s": 0.1837049535, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_144009", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_144355_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_144355_events.jsonl new file mode 100644 index 0000000..b4c639a --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_144355_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.010928359, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18149962465879, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.012209073, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18149963746593, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.012253366, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18149963790886} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.012371157, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18149963908677} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.196823834, "reason": "initial", "relative_time_s": 0.226293139, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18150177830659} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.227183701, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18150178721221} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 54.376582688, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204328120208} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.376659152, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204328196672} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 54.376682656, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 18204328220176, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 54.376705078, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204328242598} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.376727821, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204328265341, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.377523023, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204329060543} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.177802637, "reason": "replan_1", "relative_time_s": 54.555952987, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204507490507} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 54.557314883, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18204508852403} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 105.283457024, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18255234994544} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 105.283596456, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 18255235133976} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 105.28366795, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18255235205470} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 105.283724716, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18255235262236, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 105.284572127, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18255236109647} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.169197246, "reason": "replan_2", "relative_time_s": 105.454136111, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18255405673631} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 105.45501441, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18255406551930} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 145.780780998, "replanning_case": "both", "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18295732318518} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_144355_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 145.768676181, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.196823834, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.177802637, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.169197246, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.196823834, "planning_time_total_s": 0.543823717, "recovery_success_after_disruption": true, "relative_time_s": 145.78129887, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.177802637, "replanning_time_mean_s": 0.1734999415, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_144355", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 18295732836390, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_144355_summary.json b/data/plansys2_replanning_cases/native/run_20260602_144355_summary.json new file mode 100644 index 0000000..45c9c56 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_144355_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_144355_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 145.768676181, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.196823834, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.177802637, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.169197246, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.196823834, + "planning_time_total_s": 0.543823717, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.177802637, + "replanning_time_mean_s": 0.1734999415, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_144355", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_144624_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_144624_events.jsonl new file mode 100644 index 0000000..19f0099 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_144624_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.261547612, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18299111543418, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.262177154, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18299112172960, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.262210667, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18299112206473} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.262310785, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18299112306591} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.257627255, "reason": "initial", "relative_time_s": 0.539223694, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18299389219500} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.54039413, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18299390389936} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 53.561872853, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352411868659} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.561953825, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352411949631} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 53.561978992, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 18352411974798, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 53.562013347, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352412009153} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 53.562042381, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352412038187, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 53.562686189, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352412681995} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.174412995, "reason": "replan_1", "relative_time_s": 53.737306834, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352587302640} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 53.73823183, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18352588227636} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 104.220072799, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18403070068605} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 104.220172376, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 18403070168182} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 104.220199257, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18403070195063} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 104.220227099, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18403070222905, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 104.220779776, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18403070775582} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.184198119, "reason": "replan_2", "relative_time_s": 104.405202176, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18403255197982} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 104.405775863, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18403255771669} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 181.75540695, "replanning_case": "both", "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18480605402756} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_144624_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 181.493284729, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.257627255, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.174412995, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.184198119, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.257627255, "planning_time_total_s": 0.616238369, "recovery_success_after_disruption": true, "relative_time_s": 181.755710169, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.174412995, "replanning_time_mean_s": 0.179305557, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_144624", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 18480605705975, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_144624_summary.json b/data/plansys2_replanning_cases/native/run_20260602_144624_summary.json new file mode 100644 index 0000000..fcf4bf1 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_144624_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_144624_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 181.493284729, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.257627255, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.174412995, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.184198119, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.257627255, + "planning_time_total_s": 0.616238369, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.174412995, + "replanning_time_mean_s": 0.179305557, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_144624", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/native/run_20260602_145016_events.jsonl b/data/plansys2_replanning_cases/native/run_20260602_145016_events.jsonl new file mode 100644 index 0000000..2d94add --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_145016_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.003786135, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18530510528656, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004403213, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18530511145734, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.004442407, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18530511184928} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.004550901, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18530511293422} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 4, "planning_time_s": 0.167225717, "reason": "initial", "relative_time_s": 0.180332123, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18530687074644} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 0.181445623, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18530688188144} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 56.681461509, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587188204030} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 56.681543543, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587188286064} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "relative_time_s": 56.681566636, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 18587188309157, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "blocked_edge", "relative_time_s": 56.681596592, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587188339113} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 56.681624465, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587188366986, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 56.682355366, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587189097887} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 3, "planning_time_s": 0.162700063, "reason": "replan_1", "relative_time_s": 56.845666075, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587352408596} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 56.846928785, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18587353671306} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 107.922220594, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18638428963115} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "previous_goals": ["bedroom", "gym"], "relative_time_s": 107.922320221, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 18638429062742} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_native_popf", "reason": "goal_changed", "relative_time_s": 107.922375725, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18638429118246} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 107.922409278, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18638429151799, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_native_popf", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 107.923178321, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18638429920842} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_native_popf", "plan_length": 1, "planning_time_s": 0.180102402, "reason": "replan_2", "relative_time_s": 108.103985296, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18638610727817} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_native_popf", "relative_time_s": 108.105048691, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18638611791212} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_native_popf", "relative_time_s": 180.100395015, "replanning_case": "both", "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18710607137536} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_145016_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 180.096036335, "pipeline": "plansys2_native_popf", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.167225717, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.162700063, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.180102402, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.167225717, "planning_time_total_s": 0.510028182, "recovery_success_after_disruption": true, "relative_time_s": 180.100697462, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.162700063, "replanning_time_mean_s": 0.1714012325, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_145016", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 18710607439983, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/native/run_20260602_145016_summary.json b/data/plansys2_replanning_cases/native/run_20260602_145016_summary.json new file mode 100644 index 0000000..5d7ad87 --- /dev/null +++ b/data/plansys2_replanning_cases/native/run_20260602_145016_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/native/run_20260602_145016_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 180.096036335, + "pipeline": "plansys2_native_popf", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.167225717, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.162700063, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.180102402, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.167225717, + "planning_time_total_s": 0.510028182, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.162700063, + "replanning_time_mean_s": 0.1714012325, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_145016", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/plansys2_replanning_cases_descriptive_summary.csv b/data/plansys2_replanning_cases/plansys2_replanning_cases_descriptive_summary.csv new file mode 100644 index 0000000..9de810b --- /dev/null +++ b/data/plansys2_replanning_cases/plansys2_replanning_cases_descriptive_summary.csv @@ -0,0 +1,7 @@ +metric,metric_label,native_n,native_missing,native_mean,native_median,native_sample_sd,native_min,native_max,native_ci95_low,native_ci95_high,native_shapiro_w,native_shapiro_p,native_skewness,native_iqr_outliers,native_iqr_lower_fence,native_iqr_upper_fence,upf4ros2_n,upf4ros2_missing,upf4ros2_mean,upf4ros2_median,upf4ros2_sample_sd,upf4ros2_min,upf4ros2_max,upf4ros2_ci95_low,upf4ros2_ci95_high,upf4ros2_shapiro_w,upf4ros2_shapiro_p,upf4ros2_skewness,upf4ros2_iqr_outliers,upf4ros2_iqr_lower_fence,upf4ros2_iqr_upper_fence,inferential_tests_applied,note +total_mission_time_s,Total mission time (s),20,0,153.40998554465,148.4689930485,15.643347657638563,132.928905903,185.335085397,146.08867347624002,160.73129761305998,0.9185448377103231,0.09289937346201114,0.7599891816620653,0,119.28383192849995,185.34036719450003,20,0,140.63421172575,138.463379941,20.879238392543957,117.696856537,194.677712656,130.86242736296376,150.40599608853623,0.8843994562049284,0.02124690200367457,0.9785901959391204,1,81.84202667912498,191.34099406212502,False,Descriptive only; mission duration includes execution-level factors and is not interpreted as a direct UPF4ROS2 effect. +mission_success,Mission success,20,0,1.0,1.0,0.0,1.0,1.0,1.0,1.0,,,0.0,0,1.0,1.0,20,0,1.0,1.0,0.0,1.0,1.0,1.0,1.0,,,0.0,0,1.0,1.0,False,Descriptive only; no inferential tests reported for constant outcomes. +number_of_replans,Number of replans,20,0,2.0,2.0,0.0,2.0,2.0,2.0,2.0,,,0.0,0,2.0,2.0,20,0,2.0,2.0,0.0,2.0,2.0,2.0,2.0,,,0.0,0,2.0,2.0,False,Descriptive only; no inferential tests reported for constant outcomes. +initial_plan_length,Initial plan length,20,0,4.0,4.0,0.0,4.0,4.0,4.0,4.0,,,0.0,0,4.0,4.0,20,0,4.0,4.0,0.0,4.0,4.0,4.0,4.0,,,0.0,0,4.0,4.0,False,Descriptive only; no inferential tests reported for constant outcomes. +first_replan_plan_length,First replanning plan length,20,0,3.0,3.0,0.0,3.0,3.0,3.0,3.0,,,0.0,0,3.0,3.0,20,0,3.0,3.0,0.0,3.0,3.0,3.0,3.0,,,0.0,0,3.0,3.0,False,Descriptive only; no inferential tests reported for constant outcomes. +second_replan_plan_length,Second replanning plan length,20,0,1.0,1.0,0.0,1.0,1.0,1.0,1.0,,,0.0,0,1.0,1.0,20,0,1.0,1.0,0.0,1.0,1.0,1.0,1.0,,,0.0,0,1.0,1.0,False,Descriptive only; no inferential tests reported for constant outcomes. diff --git a/data/plansys2_replanning_cases/plansys2_replanning_cases_planning_time_statistics.csv b/data/plansys2_replanning_cases/plansys2_replanning_cases_planning_time_statistics.csv new file mode 100644 index 0000000..15fb68b --- /dev/null +++ b/data/plansys2_replanning_cases/plansys2_replanning_cases_planning_time_statistics.csv @@ -0,0 +1,5 @@ +metric,metric_label,invalid_runs,duplicated_runs,native_n,native_missing,native_mean,native_median,native_sample_sd,native_min,native_max,native_ci95_low,native_ci95_high,native_shapiro_w,native_shapiro_p,native_skewness,native_iqr_outliers,native_iqr_lower_fence,native_iqr_upper_fence,upf4ros2_n,upf4ros2_missing,upf4ros2_mean,upf4ros2_median,upf4ros2_sample_sd,upf4ros2_min,upf4ros2_max,upf4ros2_ci95_low,upf4ros2_ci95_high,upf4ros2_shapiro_w,upf4ros2_shapiro_p,upf4ros2_skewness,upf4ros2_iqr_outliers,upf4ros2_iqr_lower_fence,upf4ros2_iqr_upper_fence,mean_difference_upf4ros2_minus_native_s,absolute_mean_difference_s,difference_ci95_low_s,difference_ci95_high_s,welch_t_statistic,welch_p_uncorrected,welch_p_holm_corrected,mannwhitney_u_statistic,mannwhitney_p_value,hedges_g +initial_planning_latency_s,Initial planning latency (s),0,0,20,0,0.19463570905,0.19110900549999998,0.023151326275931607,0.167225717,0.257627255,0.18380055482513621,0.20547086327486377,0.8183513233556683,0.0016440012389365617,1.7199150598487396,2,0.1492703575,0.23274210550000002,20,0,0.6674901084,0.6697675089999999,0.06753759289915938,0.480979569,0.762839014,0.6358815419482704,0.6990986748517296,0.9292547354662446,0.14939876506056643,-1.015869265215388,1,0.5497890132500001,0.79929041525,0.47285439935,0.47285439935,0.4398608464682587,0.5058479522317414,29.61910239031829,4.6412481277796195e-20,9.282496255559239e-20,400.0,6.795615128173358e-08,9.180295509182264 +first_replanning_latency_s,First replanning latency (s),0,0,20,0,0.1730847392,0.171234875,0.01117865115943979,0.15569858,0.19972444,0.16785296941303957,0.17831650898696044,0.9372406306892886,0.2125442576008964,0.7448445920671682,2,0.153603028125,0.189373797125,20,0,0.0840627313,0.0833951375,0.005822404282444641,0.073058573,0.093759232,0.08133776221581493,0.08678770038418507,0.970803611543157,0.7717521893904253,-0.04593395919270681,0,0.07028949137499999,0.09801692037500001,-0.0890220079,0.0890220079,-0.0947896781976053,-0.08325433760239472,-31.586499927899755,8.694104135343135e-24,2.6082312406029404e-23,0.0,6.795615128173358e-08,-9.790080726202856 +second_replanning_latency_s,Second replanning latency (s),0,0,20,0,0.17359819715,0.174399636,0.00950843864759515,0.157917427,0.187749549,0.16914811088036563,0.17804828341963436,0.9463703989892551,0.3153287517670068,-0.2403172326741714,0,0.14376327337499994,0.20248894637500003,20,0,0.08533787525,0.08482339350000001,0.007600394872235416,0.07486868,0.101370896,0.08178078095531383,0.08889496954468618,0.9420103599373615,0.2616307664711848,0.5560413111428341,0,0.06425438512499998,0.104573814125,-0.0882603219,0.0882603219,-0.0937793465634386,-0.08274129723656139,-32.42582047796653,2.274597308437881e-28,9.098389233751523e-28,0.0,6.795615128173358e-08,-10.05022401397045 +total_planning_service_time_s,Total planning-service time (s),0,0,20,0,0.5413186454,0.5370177385,0.03118472188813553,0.501935145,0.6180100669999999,0.5267237462961543,0.5559135445038457,0.847535799872692,0.004848205320373865,1.3703242353703495,2,0.4963113502499998,0.5763603522500003,20,0,0.83689071495,0.8424683915,0.0636418857116664,0.657040422,0.923478746,0.8071053955852108,0.8666760343147892,0.9115450166268795,0.06821001985444275,-1.1092018168676192,1,0.7363892014999998,0.9564281695000001,0.29557206955000004,0.29557206955000004,0.2630904455890146,0.32805369351098546,18.651186450854247,3.455579242406251e-17,3.455579242406251e-17,400.0,6.795615128173358e-08,5.78084375952145 diff --git a/data/plansys2_replanning_cases/plansys2_replanning_cases_valid_runs.csv b/data/plansys2_replanning_cases/plansys2_replanning_cases_valid_runs.csv new file mode 100644 index 0000000..de68b30 --- /dev/null +++ b/data/plansys2_replanning_cases/plansys2_replanning_cases_valid_runs.csv @@ -0,0 +1,41 @@ 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[""(move gym room)""], ""plan_length"": 1, ""planning_time_s"": 0.164780199, ""reason"": ""replan_2""}]" +plansys2_replanning_cases,native,run_20260602_135837,/home/lab/upf4ros2_ws/experiment_data/plansys2_replanning_cases/native/run_20260602_135837_summary.json,/tmp/plansys2_replanning_cases_demo/native/run_20260602_135837_events.jsonl,plansys2_native_popf,plansys2_combined_replanning,both,True,0.194357887,0.19972444,0.177429187,0.571511514,164.594804966,1,2,4,3,1,"[{""actions"": [""(move livingroom kitchen)"", ""(move kitchen bedroom)"", ""(move bedroom kitchen)"", ""(move kitchen gym)""], ""plan_length"": 4, ""planning_time_s"": 0.194357887, ""reason"": ""initial""}, {""actions"": [""(move kitchen gym)"", ""(move gym room)"", ""(move room bedroom)""], ""plan_length"": 3, ""planning_time_s"": 0.19972444, ""reason"": ""replan_1""}, {""actions"": [""(move gym room)""], ""plan_length"": 1, ""planning_time_s"": 0.177429187, ""reason"": ""replan_2""}]" 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+plansys2_replanning_cases,upf4ros2,run_20260602_153301,/home/lab/upf4ros2_ws/experiment_data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_summary.json,/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153301_events.jsonl,plansys2_upf4ros2,plansys2_combined_replanning,both,True,0.589221682,0.08495501,0.081177861,0.7553545530000001,121.597954943,1,2,4,3,1,"[{""actions"": [""(move livingroom kitchen)"", ""(move kitchen gym)"", ""(move gym room)"", ""(move room bedroom)""], ""plan_length"": 4, ""planning_time_s"": 0.589221682, ""reason"": ""initial""}, {""actions"": [""(move kitchen bedroom)"", ""(move bedroom room)"", ""(move room gym)""], ""plan_length"": 3, ""planning_time_s"": 0.08495501, ""reason"": ""replan_1""}, {""actions"": [""(move bedroom room)""], ""plan_length"": 1, ""planning_time_s"": 0.081177861, ""reason"": ""replan_2""}]" +plansys2_replanning_cases,upf4ros2,run_20260602_153507,/home/lab/upf4ros2_ws/experiment_data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_summary.json,/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153507_events.jsonl,plansys2_upf4ros2,plansys2_combined_replanning,both,True,0.644431229,0.085601843,0.089085212,0.819118284,124.992782924,1,2,4,3,1,"[{""actions"": [""(move livingroom kitchen)"", ""(move kitchen gym)"", ""(move gym room)"", ""(move room bedroom)""], ""plan_length"": 4, ""planning_time_s"": 0.644431229, ""reason"": ""initial""}, {""actions"": [""(move kitchen bedroom)"", ""(move bedroom room)"", ""(move room gym)""], ""plan_length"": 3, ""planning_time_s"": 0.085601843, ""reason"": ""replan_1""}, {""actions"": [""(move bedroom room)""], ""plan_length"": 1, ""planning_time_s"": 0.089085212, ""reason"": ""replan_2""}]" +plansys2_replanning_cases,upf4ros2,run_20260602_153718,/home/lab/upf4ros2_ws/experiment_data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_summary.json,/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153718_events.jsonl,plansys2_upf4ros2,plansys2_combined_replanning,both,True,0.658425333,0.080739167,0.07974394,0.81890844,165.753637672,1,2,4,3,1,"[{""actions"": [""(move livingroom kitchen)"", ""(move kitchen bedroom)"", ""(move bedroom kitchen)"", ""(move kitchen gym)""], ""plan_length"": 4, ""planning_time_s"": 0.658425333, ""reason"": ""initial""}, {""actions"": [""(move kitchen gym)"", ""(move gym room)"", ""(move room bedroom)""], ""plan_length"": 3, ""planning_time_s"": 0.080739167, ""reason"": ""replan_1""}, {""actions"": [""(move gym room)""], ""plan_length"": 1, ""planning_time_s"": 0.07974394, ""reason"": ""replan_2""}]" diff --git a/data/plansys2_replanning_cases/summary.md b/data/plansys2_replanning_cases/summary.md new file mode 100644 index 0000000..cc29a8a --- /dev/null +++ b/data/plansys2_replanning_cases/summary.md @@ -0,0 +1,19 @@ +## Planning-Time Metrics +| Metric | Native n | Native mean | Native SD | UPF4ROS2 n | UPF4ROS2 mean | UPF4ROS2 SD | Mean diff. (UPF4ROS2-native), s | Diff. 95% CI low | Diff. 95% CI high | Welch t | Welch p | Holm p | Mann-Whitney U | Mann-Whitney p | Hedges g | +| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | +| Initial planning latency (s) | 20 | 0.1946 | 0.02315 | 20 | 0.6675 | 0.06754 | 0.4729 | 0.4399 | 0.5058 | 29.62 | 4.641e-20 | 9.282e-20 | 400 | 6.796e-08 | 9.18 | +| First replanning latency (s) | 20 | 0.1731 | 0.01118 | 20 | 0.08406 | 0.005822 | -0.08902 | -0.09479 | -0.08325 | -31.59 | 8.694e-24 | 2.608e-23 | 0 | 6.796e-08 | -9.79 | +| Second replanning latency (s) | 20 | 0.1736 | 0.009508 | 20 | 0.08534 | 0.0076 | -0.08826 | -0.09378 | -0.08274 | -32.43 | 2.275e-28 | 9.098e-28 | 0 | 6.796e-08 | -10.05 | +| Total planning-service time (s) | 20 | 0.5413 | 0.03118 | 20 | 0.8369 | 0.06364 | 0.2956 | 0.2631 | 0.3281 | 18.65 | 3.456e-17 | 3.456e-17 | 400 | 6.796e-08 | 5.781 | + +## Descriptive Mission-Level Outcomes +| Metric | Native n | Native mean | Native median | Native SD | Native 95% CI low | Native 95% CI high | UPF4ROS2 n | UPF4ROS2 mean | UPF4ROS2 median | UPF4ROS2 SD | UPF4ROS2 95% CI low | UPF4ROS2 95% CI high | Note | +| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | +| Total mission time (s) | 20 | 153.4 | 148.5 | 15.64 | 146.1 | 160.7 | 20 | 140.6 | 138.5 | 20.88 | 130.9 | 150.4 | Descriptive only; mission duration includes execution-level factors and is not interpreted as a direct UPF4ROS2 effect. | +| Mission success | 20 | 1 | 1 | 0 | 1 | 1 | 20 | 1 | 1 | 0 | 1 | 1 | Descriptive only; no inferential tests reported for constant outcomes. | +| Number of replans | 20 | 2 | 2 | 0 | 2 | 2 | 20 | 2 | 2 | 0 | 2 | 2 | Descriptive only; no inferential tests reported for constant outcomes. | +| Initial plan length | 20 | 4 | 4 | 0 | 4 | 4 | 20 | 4 | 4 | 0 | 4 | 4 | Descriptive only; no inferential tests reported for constant outcomes. | +| First replanning plan length | 20 | 3 | 3 | 0 | 3 | 3 | 20 | 3 | 3 | 0 | 3 | 3 | Descriptive only; no inferential tests reported for constant outcomes. | +| Second replanning plan length | 20 | 1 | 1 | 0 | 1 | 1 | 20 | 1 | 1 | 0 | 1 | 1 | Descriptive only; no inferential tests reported for constant outcomes. | + +Note: Holm correction was applied only across the four planning-time metrics. Mean differences are UPF4ROS2 minus native. Mission time and mission-level outcomes are descriptive only. diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_135020_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135020_events.jsonl new file mode 100644 index 0000000..9264e13 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135020_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.008318021, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14934639186879, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.008836244, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14934639705102, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.008858235, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14934639727093} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.008960357, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14934639829215} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.622993322, "reason": "initial", "relative_time_s": 0.64271817, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14935273587028} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.64361353, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 14935274482388} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 75.292987887, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15009923856745} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 75.293059101, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15009923927959} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 75.293078347, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15009923947205, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 75.293105428, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15009923974286} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 75.293128191, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15009923997049, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 75.293759415, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15009924628273} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.08306981, "reason": "replan_1", "relative_time_s": 75.377022798, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15010007891656} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 75.377871181, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15010008740039} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 122.115363708, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15056746232566} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 122.115435502, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 15056746304360} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 122.11546632, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15056746335178} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 122.115492469, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15056746361327, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 122.116033024, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15056746901882} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.101370896, "reason": "replan_2", "relative_time_s": 122.217592033, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15056848460891} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 122.218467866, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15056849336724} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 147.938031335, "replanning_case": "both", "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15082568900193} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_135020_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 147.929255645, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 4, "planning_time_s": 0.622993322, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.08306981, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.101370896, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.622993322, "planning_time_total_s": 0.8074340280000001, "recovery_success_after_disruption": true, "relative_time_s": 147.938338411, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.08306981, "replanning_time_mean_s": 0.092220353, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_135020", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 15082569207269, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_135020_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135020_summary.json new file mode 100644 index 0000000..4c3bf42 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135020_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_135020_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 147.929255645, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.622993322, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.08306981, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.101370896, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.622993322, + "planning_time_total_s": 0.8074340280000001, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.08306981, + "replanning_time_mean_s": 0.092220353, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_135020", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_135254_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135254_events.jsonl new file mode 100644 index 0000000..4e9a36f --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135254_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007056403, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15088503261436, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007537877, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15088503742910, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007573804, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15088503778837} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.007681216, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15088503886249} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.745318473, "reason": "initial", "relative_time_s": 0.761061258, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15089257266291} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.761965946, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15089258170979} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 47.58352298, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136079728013} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 47.583597109, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136079802142} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 47.583621254, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 15136079826287, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 47.58365096, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136079855993} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 47.583680025, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136079885058, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 47.584345934, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136080550967} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.081260243, "reason": "replan_1", "relative_time_s": 47.66582012, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136162025153} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 47.667375949, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15136163580982} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 96.747938871, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15185244143904} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 96.748107768, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 15185244312801} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 96.748142103, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15185244347136} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 96.748183671, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15185244388704, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 96.748768238, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15185244973271} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.088338357, "reason": "replan_2", "relative_time_s": 96.83730657, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15185333511603} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 96.837858276, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15185334063309} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 129.628753681, "replanning_case": "both", "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "timestamp_ns": 15218124958714} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_135254_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 129.621337813, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.745318473, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.081260243, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.088338357, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.745318473, "planning_time_total_s": 0.914917073, "recovery_success_after_disruption": true, "relative_time_s": 129.62931797, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.081260243, "replanning_time_mean_s": 0.0847993, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_135254", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 15218125523003, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_135254_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135254_summary.json new file mode 100644 index 0000000..8a20de6 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_135254_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_135254_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 129.621337813, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.745318473, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.081260243, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.088338357, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.745318473, + "planning_time_total_s": 0.914917073, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.081260243, + "replanning_time_mean_s": 0.0847993, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_135254", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_145330_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145330_events.jsonl new file mode 100644 index 0000000..dc3b976 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145330_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.021786268, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18725366278128, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.025940093, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18725370431953, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.02604485, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18725370536710} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.02630567, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18725370797530} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.751037791, "reason": "initial", "relative_time_s": 0.824885175, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18726169377035} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.826201545, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18726170693405} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.367970402, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779712462262} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.368043189, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779712535049} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.368069478, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 18779712561338, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 54.368092742, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779712584602} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.368115084, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779712606944, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.368741029, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779713232889} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.08542452, "reason": "replan_1", "relative_time_s": 54.454370904, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779798862764} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.455773096, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18779800264956} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 97.628017288, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18822972509148} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 97.62810898, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 18822972600840} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 97.628137263, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18822972629123} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 97.628169754, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18822972661614, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 97.62882828, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18822973320140} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.081282498, "reason": "replan_2", "relative_time_s": 97.710324769, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18823054816629} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 97.710864492, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18823055356352} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 123.331536241, "replanning_case": "both", "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18848676028101} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_145330_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 123.30559207, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 4, "planning_time_s": 0.751037791, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.08542452, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.081282498, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.751037791, "planning_time_total_s": 0.917744809, "recovery_success_after_disruption": true, "relative_time_s": 123.331842105, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.08542452, "replanning_time_mean_s": 0.08335350899999999, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_145330", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 18848676333965, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_145330_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145330_summary.json new file mode 100644 index 0000000..1f85c02 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145330_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_145330_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 123.30559207, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.751037791, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.08542452, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.081282498, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.751037791, + "planning_time_total_s": 0.917744809, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.08542452, + "replanning_time_mean_s": 0.08335350899999999, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_145330", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_145611_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145611_events.jsonl new file mode 100644 index 0000000..c470290 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145611_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.259333215, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18885852078937, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.259914005, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18885852659727, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.259942578, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18885852688300} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.260041975, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18885852787697} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.480979569, "reason": "initial", "relative_time_s": 0.748973668, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18886341719390} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.749853239, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18886342598961} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 77.230431441, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962823177163} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 77.230518955, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962823264677} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 77.230548651, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 18962823294373, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 77.230575962, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962823321684} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 77.230601199, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962823346921, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 77.231292607, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962824038329} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.07630735, "reason": "replan_1", "relative_time_s": 77.307882016, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962900627738} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 77.309313553, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 18962902059275} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 127.227516404, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19012820262126} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 127.227653221, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 19012820398943} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 127.227694038, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19012820439760} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 127.227736618, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19012820482340, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 127.228678646, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19012821424368} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.099753503, "reason": "replan_2", "relative_time_s": 127.328791402, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19012921537124} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 127.329718853, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19012922464575} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 172.640527428, "replanning_case": "both", "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19058233273150} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_145611_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 172.380682914, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 4, "planning_time_s": 0.480979569, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.07630735, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.099753503, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.480979569, "planning_time_total_s": 0.657040422, "recovery_success_after_disruption": true, "relative_time_s": 172.640868888, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.07630735, "replanning_time_mean_s": 0.0880304265, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_145611", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 19058233614610, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_145611_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145611_summary.json new file mode 100644 index 0000000..87254bb --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145611_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_145611_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 172.380682914, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 4, + "planning_time_s": 0.480979569, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.07630735, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.099753503, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.480979569, + "planning_time_total_s": 0.657040422, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.07630735, + "replanning_time_mean_s": 0.0880304265, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_145611", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_145940_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145940_events.jsonl new file mode 100644 index 0000000..1e32a37 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145940_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.020475688, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19095085357120, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.021437473, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19095086318905, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.021503898, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19095086385330} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.021751883, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19095086633315} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym kitchen)", "(move kitchen bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.741029619, "reason": "initial", "relative_time_s": 0.778947111, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19095843828543} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.779893346, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19095844774778} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.313506575, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149378388007} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.313600221, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149378481653} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.313623965, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 19149378505397, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 54.313655114, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149378536546} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.313682655, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149378564087, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.314432312, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149379313744} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.080531608, "reason": "replan_1", "relative_time_s": 54.395147665, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149460029097} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.395902011, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19149460783443} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 98.25567346, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19193320554892} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 98.255786743, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 19193320668175} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 98.255829373, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19193320710805} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 98.255881751, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19193320763183, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 98.256490684, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19193321372116} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.07486868, "reason": "replan_2", "relative_time_s": 98.331603853, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19193396485285} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 98.332618767, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19193397500199} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 124.201719857, "replanning_case": "both", "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19219266601289} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_145940_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 124.180314343, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym kitchen)", "(move kitchen bedroom)"], "plan_length": 4, "planning_time_s": 0.741029619, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.080531608, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.07486868, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.741029619, "planning_time_total_s": 0.896429907, "recovery_success_after_disruption": true, "relative_time_s": 124.202103657, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.080531608, "replanning_time_mean_s": 0.077700144, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_145940", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 19219266985089, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_145940_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145940_summary.json new file mode 100644 index 0000000..aed8f2b --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_145940_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_145940_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 124.180314343, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym kitchen)", + "(move kitchen bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.741029619, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.080531608, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.07486868, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.741029619, + "planning_time_total_s": 0.896429907, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.080531608, + "replanning_time_mean_s": 0.077700144, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_145940", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150148_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150148_events.jsonl new file mode 100644 index 0000000..1a1514f --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150148_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.006846499, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19222462342682, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007796271, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19222463292454, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007854821, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19222463351004} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.008033306, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19222463529489} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.668302318, "reason": "initial", "relative_time_s": 0.685435061, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19223140931244} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.686390664, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19223141886847} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.728313517, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273183809700} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.728429595, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273183925778} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.728454973, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 19273183951156, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 50.728486231, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273183982414} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 50.728519354, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273184015537, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 50.729152181, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273184648364} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.083287951, "reason": "replan_1", "relative_time_s": 50.812637392, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273268133575} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.813476126, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19273268972309} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 95.753936194, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19318209432377} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 95.754023778, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 19318209519961} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 95.75406739, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19318209563573} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 95.7540941, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19318209590283, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 95.754658359, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19318210154542} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.089362291, "reason": "replan_2", "relative_time_s": 95.844276159, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19318299772342} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 95.845048529, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19318300544712} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 121.673811814, "replanning_case": "both", "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19344129307997} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150148_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 121.666062391, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 4, "planning_time_s": 0.668302318, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.083287951, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.089362291, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.668302318, "planning_time_total_s": 0.84095256, "recovery_success_after_disruption": true, "relative_time_s": 121.674143517, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.083287951, "replanning_time_mean_s": 0.086325121, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_150148", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 19344129639700, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150148_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150148_summary.json new file mode 100644 index 0000000..28dd3e7 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150148_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150148_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 121.666062391, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.668302318, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.083287951, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.089362291, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.668302318, + "planning_time_total_s": 0.84095256, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.083287951, + "replanning_time_mean_s": 0.086325121, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_150148", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150356_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150356_events.jsonl new file mode 100644 index 0000000..3a8b218 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150356_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.207855773, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19351360936688, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.21251643, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19351365597345, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.212575812, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19351365656727} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.212771709, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19351365852624} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.572947671, "reason": "initial", "relative_time_s": 0.80985151, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19351962932425} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.810749656, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19351963830571} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 48.980553026, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400133633941} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 48.980681857, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400133762772} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 48.980728956, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 19400133809871, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 48.980769161, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400133850076} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 48.980823373, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400133904288, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 48.981907979, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400134988894} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.089023685, "reason": "replan_1", "relative_time_s": 49.071337085, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400224418000} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.072116948, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19400225197863} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 97.991098368, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19449144179283} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 97.99117407, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 19449144254985} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 97.991198957, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19449144279872} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 97.991224665, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19449144305580, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 97.991702823, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19449144783738} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.092154501, "reason": "replan_2", "relative_time_s": 98.084053522, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19449237134437} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 98.084611068, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19449237691983} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 146.374802026, "replanning_case": "both", "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19497527882941} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150356_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 146.162334507, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.572947671, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.089023685, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.092154501, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.572947671, "planning_time_total_s": 0.754125857, "recovery_success_after_disruption": true, "relative_time_s": 146.375203359, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.089023685, "replanning_time_mean_s": 0.09058909300000001, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_150356", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 19497528284274, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150356_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150356_summary.json new file mode 100644 index 0000000..b60c0c9 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150356_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150356_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 146.162334507, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.572947671, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.089023685, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.092154501, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.572947671, + "planning_time_total_s": 0.754125857, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.089023685, + "replanning_time_mean_s": 0.09058909300000001, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_150356", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150626_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150626_events.jsonl new file mode 100644 index 0000000..8e6aca7 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150626_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.01463165, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19501321997652, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.015302098, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19501322668100, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.015337535, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19501322703537} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.015461036, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19501322827038} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.683492716, "reason": "initial", "relative_time_s": 0.710309094, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19502017675096} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.711328938, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19502018694940} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.181473004, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555488839006} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.181586767, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555488952769} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.181622474, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 19555488988476, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 54.181671957, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555489037959} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.181711772, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555489077774, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.182749139, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555490115141} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.087150951, "reason": "replan_1", "relative_time_s": 54.270263121, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555577629123} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.271828779, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19555579194781} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 103.140142299, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19604447508301} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 103.140217981, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 19604447583983} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 103.140248618, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19604447614620} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 103.140279386, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19604447645388, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 103.140861769, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19604448227771} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.075988592, "reason": "replan_2", "relative_time_s": 103.217055946, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19604524421948} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 103.218061193, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19604525427195} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 147.127349043, "replanning_case": "both", "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19648434715045} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150626_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 147.112112337, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.683492716, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.087150951, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.075988592, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.683492716, "planning_time_total_s": 0.8466322589999999, "recovery_success_after_disruption": true, "relative_time_s": 147.1277258, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.087150951, "replanning_time_mean_s": 0.0815697715, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_150626", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 19648435091802, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150626_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150626_summary.json new file mode 100644 index 0000000..954986e --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150626_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150626_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 147.112112337, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.683492716, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.087150951, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.075988592, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.683492716, + "planning_time_total_s": 0.8466322589999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.087150951, + "replanning_time_mean_s": 0.0815697715, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_150626", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150859_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150859_events.jsonl new file mode 100644 index 0000000..530970b --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150859_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.027676212, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19653743847659, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.029259754, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19653745431201, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.029342399, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19653745513846} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.029603218, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19653745774665} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.66858074, "reason": "initial", "relative_time_s": 0.709720439, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19654425891886} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.71149518, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19654427666627} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 48.964454303, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702680625750} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 48.964565211, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702680736658} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 48.964597972, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 19702680769419, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 48.964639901, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702680811348} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 48.964680006, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702680851453, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 48.965665255, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702681836702} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.073058573, "reason": "replan_1", "relative_time_s": 49.039103411, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702755274858} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.039924672, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19702756096119} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 98.159555059, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19751875726506} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 98.159633396, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 19751875804843} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 98.159660176, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19751875831623} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 98.159691074, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19751875862521, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 98.160209597, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19751876381044} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.081500186, "reason": "replan_2", "relative_time_s": 98.241887026, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19751958058473} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 98.242407132, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19751958578579} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 130.793636878, "replanning_case": "both", "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19784509808325} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150859_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 130.764425375, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.66858074, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.073058573, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.081500186, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.66858074, "planning_time_total_s": 0.8231394989999999, "recovery_success_after_disruption": true, "relative_time_s": 130.794135103, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.073058573, "replanning_time_mean_s": 0.0772793795, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_150859", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 19784510306550, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_150859_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150859_summary.json new file mode 100644 index 0000000..7bac279 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_150859_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_150859_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 130.764425375, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.66858074, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.073058573, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.081500186, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.66858074, + "planning_time_total_s": 0.8231394989999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.073058573, + "replanning_time_mean_s": 0.0772793795, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_150859", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_151156_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151156_events.jsonl new file mode 100644 index 0000000..7a4ee45 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151156_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.020555137, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19830701138271, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.021240443, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19830701823577, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.021294184, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19830701877318} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.021476125, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19830702059259} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.681979921, "reason": "initial", "relative_time_s": 0.717008972, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19831397592106} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.718071556, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19831398654690} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.250795379, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19884931378513} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.250871201, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19884931454335} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.250890778, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 19884931473912, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 54.250915574, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19884931498708} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.250938287, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19884931521421, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.251663939, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19884932247073} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.09214304, "reason": "replan_1", "relative_time_s": 54.344012034, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19885024595168} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.344745611, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19885025328745} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 103.413173162, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19934093756296} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 103.413237773, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 19934093820907} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 103.413260165, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19934093843299} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 103.413283659, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19934093866793, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 103.413834904, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19934094418038} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.077204445, "reason": "replan_2", "relative_time_s": 103.491231629, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19934171814763} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 103.491827167, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19934172410301} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 149.620075535, "replanning_case": "both", "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19980300658669} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_151156_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 149.598867723, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.681979921, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.09214304, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.077204445, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.681979921, "planning_time_total_s": 0.851327406, "recovery_success_after_disruption": true, "relative_time_s": 149.620381519, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.09214304, "replanning_time_mean_s": 0.0846737425, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_151156", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 19980300964653, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_151156_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151156_summary.json new file mode 100644 index 0000000..53ebb60 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151156_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_151156_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 149.598867723, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.681979921, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.09214304, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.077204445, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.681979921, + "planning_time_total_s": 0.851327406, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.09214304, + "replanning_time_mean_s": 0.0846737425, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_151156", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_151431_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151431_events.jsonl new file mode 100644 index 0000000..6425d5e --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151431_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012473711, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19985506804202, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.013888406, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19985508218897, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.013942187, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19985508272678} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.014077881, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19985508408372} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.691083887, "reason": "initial", "relative_time_s": 0.718986373, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19986213316864} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.719882776, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 19986214213267} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 88.842020224, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074336350715} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 88.842139317, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074336469808} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 88.842184933, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20074336515424, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 88.842223465, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074336553956} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 88.842264192, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074336594683, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 88.843397068, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074337727559} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.08348957, "reason": "replan_1", "relative_time_s": 88.927285105, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074421615596} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 88.928114682, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20074422445173} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 138.547640711, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20124041971202} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 138.547731291, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 20124042061782} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 138.547765566, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20124042096057} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 138.547796003, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20124042126494, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 138.548365772, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20124042696263} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.092442412, "reason": "replan_2", "relative_time_s": 138.640994624, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20124135325115} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 138.641585744, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20124135916235} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 194.691489773, "replanning_case": "both", "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20180185820264} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_151431_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 194.677712656, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 4, "planning_time_s": 0.691083887, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.08348957, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.092442412, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.691083887, "planning_time_total_s": 0.867015869, "recovery_success_after_disruption": true, "relative_time_s": 194.692119845, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.08348957, "replanning_time_mean_s": 0.087965991, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_151431", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 20180186450336, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_151431_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151431_summary.json new file mode 100644 index 0000000..8d25046 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151431_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_151431_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 194.677712656, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 4, + "planning_time_s": 0.691083887, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.08348957, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.092442412, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.691083887, + "planning_time_total_s": 0.867015869, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.08348957, + "replanning_time_mean_s": 0.087965991, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_151431", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_151749_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151749_events.jsonl new file mode 100644 index 0000000..dd6ad09 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151749_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.008080505, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20183720855528, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.008653831, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20183721428854, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.008679088, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20183721454111} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.00880247, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20183721577493} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.670954278, "reason": "initial", "relative_time_s": 0.689569825, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20184402344848} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.690629905, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20184403404928} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 53.26224037, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20236975015393} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 53.262338835, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20236975113858} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 53.262365084, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20236975140107, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 53.262390773, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20236975165796} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 53.262413756, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20236975188779, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 53.262985078, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20236975760101} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.083300705, "reason": "replan_1", "relative_time_s": 53.346471201, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20237059246224} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 53.34738702, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20237060162043} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 102.266183299, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20285978958322} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 102.266265063, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 20285979040086} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 102.266288807, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20285979063830} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 102.266314686, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20285979089709, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 102.266784778, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20285979559801} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.08972924, "reason": "replan_2", "relative_time_s": 102.356689868, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20286069464891} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 102.357211607, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20286069986630} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 153.787620964, "replanning_case": "both", "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20337500395987} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_151749_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 153.779037054, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 4, "planning_time_s": 0.670954278, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.083300705, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.08972924, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.670954278, "planning_time_total_s": 0.843984223, "recovery_success_after_disruption": true, "relative_time_s": 153.787931106, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.083300705, "replanning_time_mean_s": 0.08651497250000001, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_151749", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 20337500706129, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_151749_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151749_summary.json new file mode 100644 index 0000000..e4c6415 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_151749_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_151749_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 153.779037054, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 4, + "planning_time_s": 0.670954278, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.083300705, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.08972924, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.670954278, + "planning_time_total_s": 0.843984223, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.083300705, + "replanning_time_mean_s": 0.08651497250000001, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_151749", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152029_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152029_events.jsonl new file mode 100644 index 0000000..d20799a --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152029_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.006143891, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20343544862365, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.006751952, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20343545470426, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.006783902, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20343545502376} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.006885062, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20343545603536} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym kitchen)", "(move kitchen bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.762839014, "reason": "initial", "relative_time_s": 0.778246881, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20344316965355} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.779236037, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20344317954511} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.519215959, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394057934433} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.519309835, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394058028309} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.519340573, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20394058059047, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 50.519369437, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394058087911} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 50.5193977, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394058116174, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 50.52006392, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394058782394} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.074867047, "reason": "replan_1", "relative_time_s": 50.595170377, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394133888851} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.595932587, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20394134651061} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 92.673955013, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20436212673487} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 92.674067604, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 20436212786078} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 92.674113871, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20436212832345} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 92.674170848, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20436212889322, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 92.675048956, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20436213767430} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.085772685, "reason": "replan_2", "relative_time_s": 92.761249233, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20436299967707} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 92.761836094, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20436300554568} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 118.379551595, "replanning_case": "both", "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20461918270069} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152029_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 118.372847954, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym kitchen)", "(move kitchen bedroom)"], "plan_length": 4, "planning_time_s": 0.762839014, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.074867047, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.085772685, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.762839014, "planning_time_total_s": 0.923478746, "recovery_success_after_disruption": true, "relative_time_s": 118.379869943, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.074867047, "replanning_time_mean_s": 0.080319866, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_152029", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 20461918588417, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152029_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152029_summary.json new file mode 100644 index 0000000..8146de2 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152029_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152029_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 118.372847954, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym kitchen)", + "(move kitchen bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.762839014, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.074867047, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.085772685, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.762839014, + "planning_time_total_s": 0.923478746, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.074867047, + "replanning_time_mean_s": 0.080319866, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_152029", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152344_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152344_events.jsonl new file mode 100644 index 0000000..ca43e5d --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152344_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.009214293, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20539116360006, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.010479879, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20539117625592, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.010552024, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20539117697737} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.010759563, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20539117905276} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.649912218, "reason": "initial", "relative_time_s": 0.674463385, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20539781609098} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.675623973, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20539782769686} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.615545033, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588722690746} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.615651854, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588722797567} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.615676249, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20588722821962, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 49.615710664, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588722856377} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 49.615741732, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588722887445, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 49.616442818, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588723588531} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.090712856, "reason": "replan_1", "relative_time_s": 49.707346823, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588814492536} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.708777308, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20588815923021} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 92.157871855, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20631265017568} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 92.157988244, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 20631265133957} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 92.158034, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20631265179713} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 92.158083192, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20631265228905, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 92.158952123, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20631266097836} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.078264864, "reason": "replan_2", "relative_time_s": 92.237602751, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20631344748464} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 92.238142103, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20631345287816} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 117.707308613, "replanning_case": "both", "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20656814454326} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152344_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 117.696856537, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 4, "planning_time_s": 0.649912218, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.090712856, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.078264864, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.649912218, "planning_time_total_s": 0.818889938, "recovery_success_after_disruption": true, "relative_time_s": 117.70764254, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.090712856, "replanning_time_mean_s": 0.08448886, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_152344", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 20656814788253, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152344_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152344_summary.json new file mode 100644 index 0000000..67e0a35 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152344_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152344_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 117.696856537, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.649912218, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.090712856, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.078264864, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.649912218, + "planning_time_total_s": 0.818889938, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.090712856, + "replanning_time_mean_s": 0.08448886, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_152344", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152545_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152545_events.jsonl new file mode 100644 index 0000000..0a3c856 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152545_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.017479535, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20659804854572, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.018122853, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20659805497890, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.018152218, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20659805527255} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.018269728, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20659805644765} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym kitchen)", "(move kitchen bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.640114469, "reason": "initial", "relative_time_s": 0.670968506, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20660458343543} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.672197192, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20660459572229} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.393517987, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709180893024} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.393592026, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709180967063} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.393615851, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20709180990888, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 49.393645486, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709181020523} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 49.393670994, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709181046031, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 49.394307018, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709181682055} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.093759232, "reason": "replan_1", "relative_time_s": 49.488254213, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709275629250} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 49.489033395, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20709276408432} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 91.008409908, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20750795784945} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 91.008482153, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 20750795857190} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 91.008509845, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20750795884882} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 91.008549009, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20750795924046, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 91.009077661, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20750796452698} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.088118717, "reason": "replan_2", "relative_time_s": 91.097417413, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20750884792450} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 91.098337089, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20750885712126} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 121.71780667, "replanning_case": "both", "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20781505181707} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152545_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 121.699781581, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym kitchen)", "(move kitchen bedroom)"], "plan_length": 4, "planning_time_s": 0.640114469, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.093759232, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.088118717, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.640114469, "planning_time_total_s": 0.821992418, "recovery_success_after_disruption": true, "relative_time_s": 121.718272905, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.093759232, "replanning_time_mean_s": 0.09093897449999999, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_152545", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 20781505647942, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152545_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152545_summary.json new file mode 100644 index 0000000..4cbf4a9 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152545_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152545_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 121.699781581, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym kitchen)", + "(move kitchen bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.640114469, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.093759232, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.088118717, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.640114469, + "planning_time_total_s": 0.821992418, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.093759232, + "replanning_time_mean_s": 0.09093897449999999, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_152545", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152750_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152750_events.jsonl new file mode 100644 index 0000000..3625f53 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152750_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.013522198, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20784680049023, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.01527111, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20784681797935, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.015402016, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20784681928841} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.015586131, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20784682112956} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.727782098, "reason": "initial", "relative_time_s": 0.758098555, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20785424625380} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.759066221, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20785425593046} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 62.640359506, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847306886331} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 62.640432223, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847306959048} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 62.640453833, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20847306980658, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 62.640482587, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847307009412} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 62.640504228, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847307031053, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 62.641125864, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847307652689} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.079508699, "reason": "replan_1", "relative_time_s": 62.720823527, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847387350352} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 62.721624641, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20847388151466} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 111.940038891, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20896606565716} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 111.940108382, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 20896606635207} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 111.940141875, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20896606668700} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 111.940178604, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20896606705429, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 111.940713527, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20896607240352} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.083874102, "reason": "replan_2", "relative_time_s": 112.024773848, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20896691300673} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 112.025668888, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20896692195713} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 152.334241385, "replanning_case": "both", "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20937000768210} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152750_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 152.318922005, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 4, "planning_time_s": 0.727782098, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.079508699, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.083874102, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.727782098, "planning_time_total_s": 0.8911648990000001, "recovery_success_after_disruption": true, "relative_time_s": 152.334575091, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.079508699, "replanning_time_mean_s": 0.08169140050000001, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_152750", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 20937001101916, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_152750_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152750_summary.json new file mode 100644 index 0000000..c9f6f7f --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_152750_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_152750_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 152.318922005, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 4, + "planning_time_s": 0.727782098, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.079508699, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.083874102, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.727782098, + "planning_time_total_s": 0.8911648990000001, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.079508699, + "replanning_time_mean_s": 0.08169140050000001, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_152750", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153026_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153026_events.jsonl new file mode 100644 index 0000000..b88b66f --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153026_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012211758, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20941279244509, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012797678, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20941279830429, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012835989, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20941279868740} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.01296442, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20941279997171} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.69837582, "reason": "initial", "relative_time_s": 0.719936904, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20941986969655} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.721305372, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20941988338123} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 57.762161878, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999029194629} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 57.762284147, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999029316898} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 57.762303333, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 20999029336084, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 57.76232812, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999029360871} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 57.762351764, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999029384515, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 57.762945809, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999029978560} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.093062766, "reason": "replan_1", "relative_time_s": 57.856209562, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999123242313} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 57.857112737, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 20999124145488} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 106.927824116, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21048194856867} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 106.927904196, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 21048194936947} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 106.927931637, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21048194964388} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 106.927962666, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21048194995417, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 106.928536102, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21048195568853} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.076724523, "reason": "replan_2", "relative_time_s": 107.005458957, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21048272491708} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 107.006209746, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21048273242497} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 149.086444227, "replanning_case": "both", "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21090353476978} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153026_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 149.073716071, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 4, "planning_time_s": 0.69837582, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.093062766, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.076724523, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.69837582, "planning_time_total_s": 0.8681631089999999, "recovery_success_after_disruption": true, "relative_time_s": 149.086992216, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.093062766, "replanning_time_mean_s": 0.0848936445, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_153026", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 21090354024967, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153026_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153026_summary.json new file mode 100644 index 0000000..68791b5 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153026_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153026_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 149.073716071, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 4, + "planning_time_s": 0.69837582, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.093062766, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.076724523, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.69837582, + "planning_time_total_s": 0.8681631089999999, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.093062766, + "replanning_time_mean_s": 0.0848936445, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_153026", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_events.jsonl new file mode 100644 index 0000000..fcfefd8 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012321895, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21095707868324, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.013214941, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21095708761370, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.013271938, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21095708818367} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.013434102, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21095708980531} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.589221682, "reason": "initial", "relative_time_s": 0.613037859, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21096308584288} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.613984586, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21096309531015} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.284625812, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21149980172241} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.284694581, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21149980241010} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.284712946, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 21149980259375, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 54.284732583, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21149980279012} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 54.284753762, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21149980300191, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 54.285473002, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21149981019431} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.08495501, "reason": "replan_1", "relative_time_s": 54.370616616, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21150066163045} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 54.371394235, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21150066940664} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 96.508803419, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21192204349848} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 96.508871668, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 21192204418097} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 96.508905, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21192204451429} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 96.508937701, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21192204484130, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 96.509432821, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21192204979250} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.081177861, "reason": "replan_2", "relative_time_s": 96.590824453, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21192286370882} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 96.591369205, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21192286915634} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 121.6111356, "replanning_case": "both", "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21217306682029} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153301_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 121.597954943, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 4, "planning_time_s": 0.589221682, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.08495501, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.081177861, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.589221682, "planning_time_total_s": 0.7553545530000001, "recovery_success_after_disruption": true, "relative_time_s": 121.611446824, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.08495501, "replanning_time_mean_s": 0.08306643550000001, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_153301", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 21217306993253, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_summary.json new file mode 100644 index 0000000..bd2d5af --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153301_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153301_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 121.597954943, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.589221682, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.08495501, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.081177861, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.589221682, + "planning_time_total_s": 0.7553545530000001, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.08495501, + "replanning_time_mean_s": 0.08306643550000001, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_153301", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_events.jsonl new file mode 100644 index 0000000..fc6b4f1 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.006930106, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21221788262895, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007808735, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21221789141524, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.007850233, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21221789183022} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.007994454, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21221789327243} +{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.644431229, "reason": "initial", "relative_time_s": 0.661879185, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21222443211974} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.66285192, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21222444184709} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.894941642, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272676274431} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.89506305, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272676395839} +{"action": "(move kitchen gym)", "action_index": 2, "attempted_edge": ["kitchen", "gym"], "blocked_edge": ["kitchen", "gym"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.895098306, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 21272676431095, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 50.895138341, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272676471130} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 50.895178577, "removed_edge": ["kitchen", "gym"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272676511366, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 50.896182802, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272677515591} +{"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.085601843, "reason": "replan_1", "relative_time_s": 50.982153497, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272763486286} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 50.982952006, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21272764284795} +{"action": "(move kitchen bedroom)", "current_location": "bedroom", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 94.291342224, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21316072675013} +{"action": "(move kitchen bedroom)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 94.291410752, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "timestamp_ns": 21316072743541} +{"active_goals": ["room"], "current_location": "bedroom", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 94.291436711, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21316072769500} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "bedroom", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 94.291466026, "removed_edge": ["kitchen", "gym"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21316072798815, "visited": ["bedroom", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at bedroom)\n (visited bedroom)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 94.292013133, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21316073345922} +{"actions": ["(move bedroom room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.089085212, "reason": "replan_2", "relative_time_s": 94.381300503, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21316162633292} +{"action": "(move bedroom room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 94.381852299, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21316163185088} +{"action": "(move bedroom room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 125.00054907, "replanning_case": "both", "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21346781881859} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move kitchen bedroom)", "(move bedroom room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "gym"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen bedroom)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153507_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen gym)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 124.992782924, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 4, "planning_time_s": 0.644431229, "reason": "initial"}, {"actions": ["(move kitchen bedroom)", "(move bedroom room)", "(move room gym)"], "plan_length": 3, "planning_time_s": 0.085601843, "reason": "replan_1"}, {"actions": ["(move bedroom room)"], "plan_length": 1, "planning_time_s": 0.089085212, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.644431229, "planning_time_total_s": 0.819118284, "recovery_success_after_disruption": true, "relative_time_s": 125.00085314, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.085601843, "replanning_time_mean_s": 0.08734352749999999, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_153507", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "bedroom", "visited": ["bedroom", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom room)"], "successful_actions": 3, "timestamp_ns": 21346782185929, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_summary.json new file mode 100644 index 0000000..fac3f4f --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153507_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "gym" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen bedroom)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153507_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen gym)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 124.992782924, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 4, + "planning_time_s": 0.644431229, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen bedroom)", + "(move bedroom room)", + "(move room gym)" + ], + "plan_length": 3, + "planning_time_s": 0.085601843, + "reason": "replan_1" + }, + { + "actions": [ + "(move bedroom room)" + ], + "plan_length": 1, + "planning_time_s": 0.089085212, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.644431229, + "planning_time_total_s": 0.819118284, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.085601843, + "replanning_time_mean_s": 0.08734352749999999, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_153507", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "bedroom", + "visited": [ + "bedroom", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_events.jsonl b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_events.jsonl new file mode 100644 index 0000000..23315d0 --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_events.jsonl @@ -0,0 +1,23 @@ +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.011326918, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21352395993958, "transition": "configure"} +{"event": "planner_lifecycle_transition", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012052139, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21352396719179, "transition": "activate"} +{"active_goals": ["bedroom", "gym"], "event": "mission_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.012103776, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21352396770816} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at livingroom)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected kitchen bedroom)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "initial", "relative_time_s": 0.012192813, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21352396859853} +{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 4, "planning_time_s": 0.658425333, "reason": "initial", "relative_time_s": 0.679473625, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21353064140665} +{"action": "(move livingroom kitchen)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 0.680463113, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21353065130153} +{"action": "(move livingroom kitchen)", "current_location": "kitchen", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 51.9208149, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404305481940} +{"action": "(move kitchen bedroom)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 51.920933212, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404305600252} +{"action": "(move kitchen bedroom)", "action_index": 2, "attempted_edge": ["kitchen", "bedroom"], "blocked_edge": ["kitchen", "bedroom"], "event": "execution_disruption_detected", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "relative_time_s": 51.920966074, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "kitchen", "visited": ["kitchen", "livingroom"]}, "timestamp_ns": 21404305633114, "trigger": "on_second_action_attempt"} +{"active_goals": ["bedroom", "gym"], "current_location": "kitchen", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "blocked_edge", "relative_time_s": 51.921006209, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404305673249} +{"active_goals": ["bedroom", "gym"], "blocked_locations": [], "current_location": "kitchen", "event": "replanning_triggered", "failure_reason": "blocked_edge", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "relative_time_s": 51.921046274, "removed_edge": ["kitchen", "bedroom"], "replan_index": 1, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404305713314, "visited": ["kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at kitchen)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited bedroom) (visited gym)))\n)", "reason": "replan_1", "relative_time_s": 51.922076167, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404306743207} +{"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 3, "planning_time_s": 0.080739167, "reason": "replan_1", "relative_time_s": 52.003266291, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404387933331} +{"action": "(move kitchen gym)", "active_goals": ["bedroom", "gym"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 52.004142065, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21404388809105} +{"action": "(move kitchen gym)", "current_location": "gym", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 118.724946481, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21471109613521} +{"action": "(move kitchen gym)", "action_index": 3, "changed_goals": ["room"], "event": "execution_disruption_detected", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "previous_goals": ["bedroom", "gym"], "relative_time_s": 118.725021452, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "timestamp_ns": 21471109688492} +{"active_goals": ["room"], "current_location": "gym", "event": "execution_stopped_for_replanning", "pipeline": "plansys2_upf4ros2", "reason": "goal_changed", "relative_time_s": 118.725043123, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21471109710163} +{"active_goals": ["room"], "blocked_locations": [], "current_location": "gym", "event": "replanning_triggered", "failure_reason": "goal_changed", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "relative_time_s": 118.725074953, "removed_edge": ["kitchen", "bedroom"], "replan_index": 2, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21471109741993, "visited": ["gym", "kitchen", "livingroom"]} +{"domain": "(define (domain plansys2_replanning_demo)\n (:requirements :strips :typing)\n (:types location)\n (:predicates\n (robot_at ?l - location)\n (connected ?from - location ?to - location)\n (visited ?l - location)\n )\n (:action move\n :parameters (?from - location ?to - location)\n :precondition (and (robot_at ?from) (connected ?from ?to))\n :effect (and (not (robot_at ?from)) (robot_at ?to) (visited ?to))\n )\n)", "event": "planning_request_sent", "pipeline": "plansys2_upf4ros2", "problem": "(define (problem plansys2_replanning_problem)\n (:domain plansys2_replanning_demo)\n (:objects livingroom entrance kitchen bedroom room gym - location)\n (:init\n (robot_at gym)\n (visited gym)\n (visited kitchen)\n (visited livingroom)\n (connected livingroom entrance)\n (connected entrance livingroom)\n (connected livingroom kitchen)\n (connected kitchen livingroom)\n (connected entrance kitchen)\n (connected kitchen entrance)\n (connected bedroom kitchen)\n (connected bedroom room)\n (connected room bedroom)\n (connected room gym)\n (connected gym room)\n (connected kitchen gym)\n (connected gym kitchen)\n )\n (:goal (and (visited room)))\n)", "reason": "replan_2", "relative_time_s": 118.725670019, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21471110337059} +{"actions": ["(move gym room)"], "event": "planning_response_received", "pipeline": "plansys2_upf4ros2", "plan_length": 1, "planning_time_s": 0.07974394, "reason": "replan_2", "relative_time_s": 118.805601742, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21471190268782} +{"action": "(move gym room)", "active_goals": ["room"], "event": "action_dispatch_started", "pipeline": "plansys2_upf4ros2", "relative_time_s": 118.806537648, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21471191204688} +{"action": "(move gym room)", "current_location": "room", "event": "action_succeeded", "pipeline": "plansys2_upf4ros2", "relative_time_s": 165.765602618, "replanning_case": "both", "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "timestamp_ns": 21518150269658} +{"active_goals": ["room"], "attempted_action_trace": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move kitchen gym)", "(move gym room)"], "attempted_actions": 4, "blocked_edge": ["kitchen", "bedroom"], "blocked_locations": [], "changed_goals": ["room"], "configured_blocked_edge": ["kitchen", "gym"], "configured_blocked_edge_used": false, "disruption_action": "(move kitchen gym)", "disruption_action_index": 3, "disturbance_trigger": "on_second_action_attempt", "event": "mission_succeeded", "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153718_events.jsonl", "execution_disruption_detected": true, "failed_action_trace": ["(move kitchen bedroom)"], "failed_actions": 1, "failure_reason": "", "final_plan_length": 1, "final_plan_unit_action_cost": 1, "goal_achievement_ratio": 1.0, "goal_change_applied": true, "goals": ["room"], "goals_achieved": ["room"], "goals_unachieved": [], "initial_goals": ["bedroom", "gym"], "initial_plan_length": 4, "initial_plan_unit_action_cost": 4, "mission_time_s": 165.753637672, "pipeline": "plansys2_upf4ros2", "plan_history": [{"actions": ["(move livingroom kitchen)", "(move kitchen bedroom)", "(move bedroom kitchen)", "(move kitchen gym)"], "plan_length": 4, "planning_time_s": 0.658425333, "reason": "initial"}, {"actions": ["(move kitchen gym)", "(move gym room)", "(move room bedroom)"], "plan_length": 3, "planning_time_s": 0.080739167, "reason": "replan_1"}, {"actions": ["(move gym room)"], "plan_length": 1, "planning_time_s": 0.07974394, "reason": "replan_2"}], "plan_quality_metric": "unit_action_count", "planning_time_initial_s": 0.658425333, "planning_time_total_s": 0.81890844, "recovery_success_after_disruption": true, "relative_time_s": 165.766208034, "replan_plan_lengths": [3, 1], "replan_plan_unit_action_costs": [3, 1], "replanning_case": "both", "replanning_latency_s": 0.080739167, "replanning_time_mean_s": 0.0802415535, "replanning_triggered": true, "replans": 2, "run_id": "run_20260602_153718", "scenario": "plansys2_combined_replanning", "state_at_disruption": {"current_location": "gym", "visited": ["gym", "kitchen", "livingroom"]}, "success": true, "successful_action_trace": ["(move livingroom kitchen)", "(move kitchen gym)", "(move gym room)"], "successful_actions": 3, "timestamp_ns": 21518150875074, "total_generated_plan_actions": 8, "valid_replanning_trial": true} diff --git a/data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_summary.json b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_summary.json new file mode 100644 index 0000000..beef16e --- /dev/null +++ b/data/plansys2_replanning_cases/upf4ros2/run_20260602_153718_summary.json @@ -0,0 +1,121 @@ +{ + "active_goals": [ + "room" + ], + "attempted_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move kitchen gym)", + "(move gym room)" + ], + "attempted_actions": 4, + "blocked_edge": [ + "kitchen", + "bedroom" + ], + "blocked_locations": [], + "changed_goals": [ + "room" + ], + "configured_blocked_edge": [ + "kitchen", + "gym" + ], + "configured_blocked_edge_used": false, + "disruption_action": "(move kitchen gym)", + "disruption_action_index": 3, + "disturbance_trigger": "on_second_action_attempt", + "events_file": "/tmp/plansys2_replanning_cases_demo/upf4ros2/run_20260602_153718_events.jsonl", + "execution_disruption_detected": true, + "failed_action_trace": [ + "(move kitchen bedroom)" + ], + "failed_actions": 1, + "failure_reason": "", + "final_plan_length": 1, + "final_plan_unit_action_cost": 1, + "goal_achievement_ratio": 1.0, + "goal_change_applied": true, + "goals": [ + "room" + ], + "goals_achieved": [ + "room" + ], + "goals_unachieved": [], + "initial_goals": [ + "bedroom", + "gym" + ], + "initial_plan_length": 4, + "initial_plan_unit_action_cost": 4, + "mission_time_s": 165.753637672, + "pipeline": "plansys2_upf4ros2", + "plan_history": [ + { + "actions": [ + "(move livingroom kitchen)", + "(move kitchen bedroom)", + "(move bedroom kitchen)", + "(move kitchen gym)" + ], + "plan_length": 4, + "planning_time_s": 0.658425333, + "reason": "initial" + }, + { + "actions": [ + "(move kitchen gym)", + "(move gym room)", + "(move room bedroom)" + ], + "plan_length": 3, + "planning_time_s": 0.080739167, + "reason": "replan_1" + }, + { + "actions": [ + "(move gym room)" + ], + "plan_length": 1, + "planning_time_s": 0.07974394, + "reason": "replan_2" + } + ], + "plan_quality_metric": "unit_action_count", + "planning_time_initial_s": 0.658425333, + "planning_time_total_s": 0.81890844, + "recovery_success_after_disruption": true, + "replan_plan_lengths": [ + 3, + 1 + ], + "replan_plan_unit_action_costs": [ + 3, + 1 + ], + "replanning_case": "both", + "replanning_latency_s": 0.080739167, + "replanning_time_mean_s": 0.0802415535, + "replanning_triggered": true, + "replans": 2, + "run_id": "run_20260602_153718", + "scenario": "plansys2_combined_replanning", + "state_at_disruption": { + "current_location": "gym", + "visited": [ + "gym", + "kitchen", + "livingroom" + ] + }, + "success": true, + "successful_action_trace": [ + "(move livingroom kitchen)", + "(move kitchen gym)", + "(move gym room)" + ], + "successful_actions": 3, + "total_generated_plan_actions": 8, + "valid_replanning_trial": true +} diff --git a/data/raw_results.csv b/data/raw_results.csv new file mode 100644 index 0000000..7c1dfdd --- /dev/null +++ b/data/raw_results.csv @@ -0,0 +1,101 @@ +demo,run,planner,time_s +Demo 1 - PDDL,1,UPF,0.0694 +Demo 1 - PDDL,1,UPF4ROS2,0.146 +Demo 1 - PDDL,2,UPF,0.0686 +Demo 1 - PDDL,2,UPF4ROS2,0.1362 +Demo 1 - PDDL,3,UPF,0.0687 +Demo 1 - PDDL,3,UPF4ROS2,0.0659 +Demo 1 - PDDL,4,UPF,0.0706 +Demo 1 - PDDL,4,UPF4ROS2,0.0653 +Demo 1 - PDDL,5,UPF,0.0695 +Demo 1 - PDDL,5,UPF4ROS2,0.0663 +Demo 1 - PDDL,6,UPF,0.0685 +Demo 1 - PDDL,6,UPF4ROS2,0.1409 +Demo 1 - PDDL,7,UPF,0.0685 +Demo 1 - PDDL,7,UPF4ROS2,0.0675 +Demo 1 - PDDL,8,UPF,0.0691 +Demo 1 - PDDL,8,UPF4ROS2,0.0671 +Demo 1 - PDDL,9,UPF,0.0678 +Demo 1 - PDDL,9,UPF4ROS2,0.0661 +Demo 1 - PDDL,10,UPF,0.0684 +Demo 1 - PDDL,10,UPF4ROS2,0.066 +Demo 1,1,UPF,0.0442 +Demo 1,1,UPF4ROS2,0.1784 +Demo 1,2,UPF,0.044 +Demo 1,2,UPF4ROS2,0.1009 +Demo 1,3,UPF,0.0435 +Demo 1,3,UPF4ROS2,0.182 +Demo 1,4,UPF,0.0443 +Demo 1,4,UPF4ROS2,0.1808 +Demo 1,5,UPF,0.0442 +Demo 1,5,UPF4ROS2,0.1754 +Demo 1,6,UPF,0.0437 +Demo 1,6,UPF4ROS2,0.1813 +Demo 1,7,UPF,0.0444 +Demo 1,7,UPF4ROS2,0.1913 +Demo 1,8,UPF,0.0442 +Demo 1,8,UPF4ROS2,0.1949 +Demo 1,9,UPF,0.0467 +Demo 1,9,UPF4ROS2,0.1903 +Demo 1,10,UPF,0.0433 +Demo 1,10,UPF4ROS2,0.1907 +Demo 2,1,UPF,0.0444 +Demo 2,1,UPF4ROS2,0.1863 +Demo 2,2,UPF,0.0443 +Demo 2,2,UPF4ROS2,0.1782 +Demo 2,3,UPF,0.0438 +Demo 2,3,UPF4ROS2,0.1775 +Demo 2,4,UPF,0.0448 +Demo 2,4,UPF4ROS2,0.1838 +Demo 2,5,UPF,0.0439 +Demo 2,5,UPF4ROS2,0.1944 +Demo 2,6,UPF,0.0444 +Demo 2,6,UPF4ROS2,0.1771 +Demo 2,7,UPF,0.0447 +Demo 2,7,UPF4ROS2,0.1793 +Demo 2,8,UPF,0.0442 +Demo 2,8,UPF4ROS2,0.1778 +Demo 2,9,UPF,0.0447 +Demo 2,9,UPF4ROS2,0.2035 +Demo 2,10,UPF,0.0447 +Demo 2,10,UPF4ROS2,0.185 +Demo 3,1,UPF,0.0454 +Demo 3,1,UPF4ROS2,0.1767 +Demo 3,2,UPF,0.0467 +Demo 3,2,UPF4ROS2,0.2592 +Demo 3,3,UPF,0.0465 +Demo 3,3,UPF4ROS2,0.2365 +Demo 3,4,UPF,0.0498 +Demo 3,4,UPF4ROS2,0.2235 +Demo 3,5,UPF,0.0464 +Demo 3,5,UPF4ROS2,0.2193 +Demo 3,6,UPF,0.0478 +Demo 3,6,UPF4ROS2,0.228 +Demo 3,7,UPF,0.0485 +Demo 3,7,UPF4ROS2,0.2003 +Demo 3,8,UPF,0.0465 +Demo 3,8,UPF4ROS2,0.2213 +Demo 3,9,UPF,0.0461 +Demo 3,9,UPF4ROS2,0.2363 +Demo 3,10,UPF,0.0466 +Demo 3,10,UPF4ROS2,0.2307 +Demo 3 - Harvest,1,UPF,0.064 +Demo 3 - Harvest,1,UPF4ROS2,0.1778 +Demo 3 - Harvest,2,UPF,0.0491 +Demo 3 - Harvest,2,UPF4ROS2,0.3216 +Demo 3 - Harvest,3,UPF,0.0486 +Demo 3 - Harvest,3,UPF4ROS2,0.3397 +Demo 3 - Harvest,4,UPF,0.0499 +Demo 3 - Harvest,4,UPF4ROS2,0.3008 +Demo 3 - Harvest,5,UPF,0.0506 +Demo 3 - Harvest,5,UPF4ROS2,0.3045 +Demo 3 - Harvest,6,UPF,0.0482 +Demo 3 - Harvest,6,UPF4ROS2,0.283 +Demo 3 - Harvest,7,UPF,0.0486 +Demo 3 - Harvest,7,UPF4ROS2,0.3028 +Demo 3 - Harvest,8,UPF,0.0494 +Demo 3 - Harvest,8,UPF4ROS2,0.3408 +Demo 3 - Harvest,9,UPF,0.0502 +Demo 3 - Harvest,9,UPF4ROS2,0.3495 +Demo 3 - Harvest,10,UPF,0.054 +Demo 3 - Harvest,10,UPF4ROS2,0.3678 diff --git a/plansys2_upf_plan_solver/CMakeLists.txt b/plansys2_upf_plan_solver/CMakeLists.txt index 5b5f5ec..0492ae5 100644 --- a/plansys2_upf_plan_solver/CMakeLists.txt +++ b/plansys2_upf_plan_solver/CMakeLists.txt @@ -42,6 +42,8 @@ install(FILES plansys2_upf_plan_solver_plugin.xml DESTINATION share/${PROJECT_NAME} ) + + install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib diff --git a/plansys2_upf_plan_solver/include/plansys2_upf_plan_solver/upf_plan_solver.hpp b/plansys2_upf_plan_solver/include/plansys2_upf_plan_solver/upf_plan_solver.hpp index ec05ec5..c8693ba 100644 --- a/plansys2_upf_plan_solver/include/plansys2_upf_plan_solver/upf_plan_solver.hpp +++ b/plansys2_upf_plan_solver/include/plansys2_upf_plan_solver/upf_plan_solver.hpp @@ -32,7 +32,6 @@ class UPFPlanSolver : public PlanSolverBase using PDDLPlanOneShot = upf_msgs::action::PDDLPlanOneShot; std::string parameter_name_; - rclcpp_lifecycle::LifecycleNode::SharedPtr lc_node_; rclcpp::Node::SharedPtr service_node_; plansys2_msgs::msg::Plan convert(const upf_msgs::msg::Plan & plan); diff --git a/plansys2_upf_plan_solver/src/plansys2_upf_plan_solver/upf_plan_solver.cpp b/plansys2_upf_plan_solver/src/plansys2_upf_plan_solver/upf_plan_solver.cpp index 5ccb08f..341f725 100644 --- a/plansys2_upf_plan_solver/src/plansys2_upf_plan_solver/upf_plan_solver.cpp +++ b/plansys2_upf_plan_solver/src/plansys2_upf_plan_solver/upf_plan_solver.cpp @@ -83,8 +83,7 @@ void UPFPlanSolver::configure( const std::string & plugin_name) { parameter_name_ = plugin_name + ".arguments"; - lc_node_ = lc_node; - lc_node_->declare_parameter(parameter_name_, ""); + lc_node->declare_parameter(parameter_name_, ""); service_node_ = rclcpp::Node::make_shared(plugin_name + "_node"); } diff --git a/upf.repos b/upf.repos index 14a7eae..0ab964c 100644 --- a/upf.repos +++ b/upf.repos @@ -1,4 +1,8 @@ repositories: + simple_node: + type: git + url: https://github.com/uleroboticsgroup/simple_node.git + version: main unified-planning: type: git url: https://github.com/aiplan4eu/unified-planning.git diff --git a/upf4ros2/upf4ros2/upf4ros2_main.py b/upf4ros2/upf4ros2/upf4ros2_main.py index e167999..001f320 100644 --- a/upf4ros2/upf4ros2/upf4ros2_main.py +++ b/upf4ros2/upf4ros2/upf4ros2_main.py @@ -324,10 +324,14 @@ def main(args=None): upf4ros2_node = UPF4ROS2Node() - rclpy.spin(upf4ros2_node) + try: + rclpy.spin(upf4ros2_node) + except KeyboardInterrupt: + pass upf4ros2_node.destroy_node() - rclpy.shutdown() + if rclpy.ok(): + rclpy.shutdown() if __name__ == '__main__': diff --git a/upf4ros2_demo/launch/plansys2_replanning_cases.launch.py b/upf4ros2_demo/launch/plansys2_replanning_cases.launch.py new file mode 100644 index 0000000..a2d0e9d --- /dev/null +++ b/upf4ros2_demo/launch/plansys2_replanning_cases.launch.py @@ -0,0 +1,97 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.events import Shutdown +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + pkg_name = 'upf4ros2_demo' + replanning_case = LaunchConfiguration('replanning_case') + planner = LaunchConfiguration('planner') + output_dir = LaunchConfiguration('output_dir') + execute_actions = LaunchConfiguration('execute_actions') + + use_native = PythonExpression(["'", planner, "' == 'native'"]) + use_upf4ros2 = PythonExpression(["'", planner, "' == 'upf4ros2'"]) + + demo = Node( + package=pkg_name, + executable='plansys2_replanning_cases_demo', + name='plansys2_replanning_cases_demo', + output='screen', + parameters=[{ + 'pipeline': PythonExpression([ + "'plansys2_upf4ros2' if '", planner, + "' == 'upf4ros2' else 'plansys2_native_popf'" + ]), + 'output_dir': output_dir, + 'execute_actions': execute_actions, + 'disturbance_trigger': 'on_edge_attempt', + 'blocked_edge': ['kitchen', 'gym'], + 'replanning_case': replanning_case, + 'initial_goals': ['bedroom', 'gym'], + 'changed_goals': ['room'], + 'goal_change_after_successes': 1, + }]) + + navigation_action = Node( + package=pkg_name, + executable='upf4ros2_navigation_action', + name='upf4ros2_navigation_action', + parameters=[get_package_share_directory(pkg_name) + '/params/tiago.yaml'], + output='screen') + + return LaunchDescription([ + DeclareLaunchArgument( + 'replanning_case', + default_value='both', + description="Replanning case to run: 'both', 'blocked_edge', or 'goal_change'"), + DeclareLaunchArgument( + 'planner', + default_value='native', + description="Planner backend: 'native' or 'upf4ros2'"), + DeclareLaunchArgument( + 'output_dir', + default_value='/tmp/plansys2_replanning_cases_demo', + description='Directory for replanning event and summary files'), + DeclareLaunchArgument( + 'execute_actions', + default_value='true', + description='Whether to call the navigation action service while executing the plan'), + Node( + package='upf4ros2', + executable='upf4ros2_main', + name='upf4ros2', + output='screen', + condition=IfCondition(use_upf4ros2)), + Node( + package='plansys2_planner', + executable='planner_node', + name='planner', + output='screen', + parameters=[{ + 'plan_solver_plugins': ['POPF'], + 'POPF.plugin': 'plansys2/POPFPlanSolver', + }], + condition=IfCondition(use_native)), + Node( + package='plansys2_planner', + executable='planner_node', + name='planner', + output='screen', + parameters=[{ + 'plan_solver_plugins': ['UPF'], + 'UPF.plugin': 'plansys2/UPFPlanSolver', + }], + condition=IfCondition(use_upf4ros2)), + navigation_action, + demo, + RegisterEventHandler( + OnProcessExit( + target_action=demo, + on_exit=[EmitEvent(event=Shutdown(reason='replanning cases demo finished'))])), + ]) diff --git a/upf4ros2_demo/launch/plansys2_replanning_native.launch.py b/upf4ros2_demo/launch/plansys2_replanning_native.launch.py new file mode 100644 index 0000000..3c1fb76 --- /dev/null +++ b/upf4ros2_demo/launch/plansys2_replanning_native.launch.py @@ -0,0 +1,47 @@ +from launch import LaunchDescription +from launch.actions import EmitEvent, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.events import Shutdown +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + pkg_name = 'upf4ros2_demo' + + demo = Node( + package='upf4ros2_demo', + executable='plansys2_replanning_demo', + name='plansys2_replanning_demo', + output='screen', + parameters=[{ + 'pipeline': 'plansys2_native_popf', + 'output_dir': '/tmp/plansys2_replanning_demo/native', + 'execute_actions': True, + 'disturbance_trigger': 'on_first_action_attempt', + }]) + + navigation_action = Node( + package=pkg_name, + executable='upf4ros2_navigation_action', + name='upf4ros2_navigation_action', + parameters=[get_package_share_directory(pkg_name) + '/params/tiago.yaml'], + output='screen') + + return LaunchDescription([ + Node( + package='plansys2_planner', + executable='planner_node', + name='planner', + output='screen', + parameters=[{ + 'plan_solver_plugins': ['POPF'], + 'POPF.plugin': 'plansys2/POPFPlanSolver', + }]), + navigation_action, + demo, + RegisterEventHandler( + OnProcessExit( + target_action=demo, + on_exit=[EmitEvent(event=Shutdown(reason='replanning demo finished'))])), + ]) diff --git a/upf4ros2_demo/launch/plansys2_replanning_upf4ros2.launch.py b/upf4ros2_demo/launch/plansys2_replanning_upf4ros2.launch.py new file mode 100644 index 0000000..11ed0d7 --- /dev/null +++ b/upf4ros2_demo/launch/plansys2_replanning_upf4ros2.launch.py @@ -0,0 +1,52 @@ +from launch import LaunchDescription +from launch.actions import EmitEvent, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.events import Shutdown +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + pkg_name = 'upf4ros2_demo' + + demo = Node( + package='upf4ros2_demo', + executable='plansys2_replanning_demo', + name='plansys2_replanning_demo', + output='screen', + parameters=[{ + 'pipeline': 'plansys2_upf4ros2', + 'output_dir': '/tmp/plansys2_replanning_demo/upf4ros2', + 'execute_actions': True, + 'disturbance_trigger': 'on_first_action_attempt', + }]) + + navigation_action = Node( + package=pkg_name, + executable='upf4ros2_navigation_action', + name='upf4ros2_navigation_action', + parameters=[get_package_share_directory(pkg_name) + '/params/tiago.yaml'], + output='screen') + + return LaunchDescription([ + Node( + package='upf4ros2', + executable='upf4ros2_main', + name='upf4ros2', + output='screen'), + Node( + package='plansys2_planner', + executable='planner_node', + name='planner', + output='screen', + parameters=[{ + 'plan_solver_plugins': ['UPF'], + 'UPF.plugin': 'plansys2/UPFPlanSolver', + }]), + navigation_action, + demo, + RegisterEventHandler( + OnProcessExit( + target_action=demo, + on_exit=[EmitEvent(event=Shutdown(reason='replanning demo finished'))])), + ]) diff --git a/upf4ros2_demo/launch/upf4ros2_demo3_harvest.launch.py b/upf4ros2_demo/launch/upf4ros2_demo3_harvest.launch.py new file mode 100644 index 0000000..6c77495 --- /dev/null +++ b/upf4ros2_demo/launch/upf4ros2_demo3_harvest.launch.py @@ -0,0 +1,63 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + + pkg_name = "upf4ros2_demo" + + # + # ARGS + # + + points = LaunchConfiguration("wps") + declare_points_cmd = DeclareLaunchArgument( + "wps", + default_value=get_package_share_directory( + pkg_name) + "/params/house.yaml", + description="YAML waypoints file") + + # + # ACTIONS + # + + upf4ros2_navigation_action_cmd = Node( + package=pkg_name, + executable="upf4ros2_navigation_action", + name="upf4ros2_navigation_action", + parameters=[points], + output='screen') + + upf4ros2_check_wp_action_cmd = Node( + package=pkg_name, + executable="upf4ros2_check_wp_action", + name="upf4ros2_check_wp_action", + output='screen') + + upf4ros2_collect_action_cmd = Node( + package=pkg_name, + executable="upf4ros2_collect_action", + name="upf4ros2_collect_action", + output='screen') + + # + # NODES + # + + upf4ros2_demo_cmd = Node( + package=pkg_name, + executable="upf4ros2_demo3_harvest", + name="upf4ros2_demo3_harvest", + output='screen') + + ld = LaunchDescription() + ld.add_action(declare_points_cmd) + ld.add_action(upf4ros2_navigation_action_cmd) + ld.add_action(upf4ros2_check_wp_action_cmd) + ld.add_action(upf4ros2_collect_action_cmd) + ld.add_action(upf4ros2_demo_cmd) + + return ld diff --git a/upf4ros2_demo/launch/upf4ros2_demo3_replan.launch.py b/upf4ros2_demo/launch/upf4ros2_demo3_replan.launch.py new file mode 100644 index 0000000..13d718d --- /dev/null +++ b/upf4ros2_demo/launch/upf4ros2_demo3_replan.launch.py @@ -0,0 +1,59 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + pkg_name = 'upf4ros2_demo' + + points = LaunchConfiguration('wps') + execute_actions = LaunchConfiguration('execute_actions') + simulate_block_first_move = LaunchConfiguration('simulate_block_first_move') + max_replans = LaunchConfiguration('max_replans') + + return LaunchDescription([ + DeclareLaunchArgument( + 'wps', + default_value=get_package_share_directory(pkg_name) + '/params/house.yaml', + description='YAML waypoints file'), + DeclareLaunchArgument( + 'execute_actions', + default_value='true', + description='Call move/check_wp action services instead of dry-running effects'), + DeclareLaunchArgument( + 'simulate_block_first_move', + default_value='true', + description='Force the first move to fail once and trigger replanning'), + DeclareLaunchArgument( + 'max_replans', + default_value='3', + description='Maximum number of replanning attempts'), + Node( + package='upf4ros2', + executable='upf4ros2_main', + name='upf4ros2', + output='screen'), + Node( + package=pkg_name, + executable='upf4ros2_navigation_action', + name='upf4ros2_navigation_action', + parameters=[points], + output='screen'), + Node( + package=pkg_name, + executable='upf4ros2_check_wp_action', + name='upf4ros2_check_wp_action', + output='screen'), + Node( + package=pkg_name, + executable='upf4ros2_demo3_replan', + name='upf4ros2_demo3_replan', + parameters=[{ + 'execute_actions': execute_actions, + 'simulate_block_first_move': simulate_block_first_move, + 'max_replans': max_replans, + }], + output='screen'), + ]) diff --git a/upf4ros2_demo/package.xml b/upf4ros2_demo/package.xml index 4302b5b..51e2df8 100644 --- a/upf4ros2_demo/package.xml +++ b/upf4ros2_demo/package.xml @@ -11,6 +11,8 @@ sensor_msgs geometry_msgs upf_msgs + plansys2_msgs + lifecycle_msgs ament_copyright ament_flake8 diff --git a/upf4ros2_demo/params/house.yaml b/upf4ros2_demo/params/house.yaml index f31c1de..f2cd30c 100644 --- a/upf4ros2_demo/params/house.yaml +++ b/upf4ros2_demo/params/house.yaml @@ -35,4 +35,28 @@ upf4ros2_navigation_action: - "1.85" - "4.38" - "-0.005" - - "1.0" \ No newline at end of file + - "1.0" + + - "wp1" + - "1.6916" + - "-0.05" + - "0.0" + - "1.0" + + - "wp2" + - "2.749" + - "-0.42" + - "0.0" + - "1.0" + + - "wp3" + - "3.6144" + - "-1.32" + - "0.0" + - "1.0" + + - "base" + - "0.3" + - "-0.10" + - "0.0" + - "1.0" diff --git a/upf4ros2_demo/setup.py b/upf4ros2_demo/setup.py index bf49b08..1046c65 100644 --- a/upf4ros2_demo/setup.py +++ b/upf4ros2_demo/setup.py @@ -23,7 +23,6 @@ maintainer_email='igonzf06@estudiantes.unileon.es', description='ROS 2 Support for UPF', license='Apache License, Version 2.0', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'upf4ros2_demo1 = upf4ros2_demo.upf4ros2_demo1:main', @@ -31,8 +30,15 @@ 'upf4ros2_demo1_bash = upf4ros2_demo.upf4ros2_demo1_bash:main', 'upf4ros2_demo2 = upf4ros2_demo.upf4ros2_demo2:main', 'upf4ros2_demo3 = upf4ros2_demo.upf4ros2_demo3:main', + 'upf4ros2_demo3_replan = upf4ros2_demo.upf4ros2_demo3_replan:main', + 'upf4ros2_demo3_harvest = upf4ros2_demo.upf4ros2_demo3_harvest:main', 'upf4ros2_navigation_action = upf4ros2_demo.upf4ros2_navigation_action:main', - 'upf4ros2_check_wp_action = upf4ros2_demo.upf4ros2_check_wp_action:main' + 'upf4ros2_check_wp_action = upf4ros2_demo.upf4ros2_check_wp_action:main', + 'upf4ros2_collect_action = upf4ros2_demo.upf4ros2_collect_action:main', + 'plansys2_metrics_recorder = upf4ros2_demo.plansys2_metrics_recorder:main', + 'plansys2_replanning_demo = upf4ros2_demo.plansys2_replanning_demo:main', + 'plansys2_replanning_cases_demo = upf4ros2_demo.plansys2_replanning_cases_demo:main', + 'plansys2_replanning_report = upf4ros2_demo.plansys2_replanning_report:main' ], }, ) diff --git a/upf4ros2_demo/upf4ros2_demo/plansys2_replanning_cases_demo.py b/upf4ros2_demo/upf4ros2_demo/plansys2_replanning_cases_demo.py new file mode 100644 index 0000000..b32835a --- /dev/null +++ b/upf4ros2_demo/upf4ros2_demo/plansys2_replanning_cases_demo.py @@ -0,0 +1,304 @@ +import json +import time + +import rclpy + +from upf4ros2_demo.plansys2_replanning_demo import ( + DOMAIN, + EDGES, + GOALS, + INITIAL_LOCATION, + OBJECTS, + PlanSys2ReplanningDemo, +) + + +BLOCKED_EDGE_CASE = 'blocked_edge' +GOAL_CHANGE_CASE = 'goal_change' +BOTH_CASE = 'both' + + +def make_problem(current_location, visited, edges, goals, blocked_locations=None): + visited = set(visited or [INITIAL_LOCATION]) + blocked_locations = set(blocked_locations or []) + edges = list(edges or EDGES) + init_lines = [f" (robot_at {current_location})"] + init_lines.extend(f" (visited {loc})" for loc in sorted(visited)) + init_lines.extend(f" (connected {source} {target})" for source, target in edges) + active_goals = [goal for goal in goals if goal not in blocked_locations] + goal_lines = " ".join(f"(visited {goal})" for goal in active_goals) or f"(visited {current_location})" + return f""" +(define (problem plansys2_replanning_problem) + (:domain plansys2_replanning_demo) + (:objects {' '.join(OBJECTS)} - location) + (:init +{chr(10).join(init_lines)} + ) + (:goal (and {goal_lines})) +) +""".strip() + + +class PlanSys2ReplanningCasesDemo(PlanSys2ReplanningDemo): + + def __init__(self): + super().__init__() + self.declare_parameter('replanning_case', BOTH_CASE) + self.declare_parameter('initial_goals', ['bedroom', 'gym']) + self.declare_parameter('changed_goals', ['room']) + self.declare_parameter('goal_change_after_successes', 1) + + self.replanning_case = self.get_parameter('replanning_case').value + if self.replanning_case not in (BLOCKED_EDGE_CASE, GOAL_CHANGE_CASE, BOTH_CASE): + raise ValueError( + f"replanning_case must be '{BLOCKED_EDGE_CASE}', '{GOAL_CHANGE_CASE}', or '{BOTH_CASE}'") + + self.initial_goals = self._parameter_list('initial_goals') + self.changed_goals = self._parameter_list('changed_goals') + self.current_goals = list(self.initial_goals) + self.goal_change_after_successes = int(self.get_parameter('goal_change_after_successes').value) + self.goal_change_applied = False + self.actions_at_last_replan = 0 + + if self.configured_blocked_edge == ('livingroom', 'entrance'): + self.configured_blocked_edge = ('kitchen', 'gym') + + def _parameter_list(self, name): + value = self.get_parameter(name).value + if isinstance(value, str): + return [value] + return list(value) + + def _scenario_name(self): + if self.replanning_case == BLOCKED_EDGE_CASE: + return 'plansys2_blocked_edge_replanning' + if self.replanning_case == GOAL_CHANGE_CASE: + return 'plansys2_goal_change_replanning' + return 'plansys2_combined_replanning' + + def _write_event(self, event, **data): + now_ns = time.monotonic_ns() + payload = { + 'run_id': self.run_id, + 'pipeline': self.pipeline, + 'scenario': self._scenario_name(), + 'replanning_case': self.replanning_case, + 'event': event, + 'timestamp_ns': now_ns, + 'relative_time_s': (now_ns - self.start_ns) / 1e9, + } + payload.update(data) + self.events.write(json.dumps(payload, sort_keys=True) + '\n') + self.events.flush() + + def _active_goals(self): + return [goal for goal in self.current_goals if goal not in self.blocked_locations] + + def _goals_reached(self, visited): + return all(goal in visited for goal in self._active_goals()) + + def _maybe_trigger_goal_change(self, current_location, visited): + if self.replanning_case not in (GOAL_CHANGE_CASE, BOTH_CASE) or self.goal_change_applied: + return False + executed_in_current_plan = len(self.successful_actions) - self.actions_at_last_replan + if executed_in_current_plan < self.goal_change_after_successes: + return False + if self.replanning_case == BOTH_CASE and self.replans == 0: + return False + + previous_goals = list(self.current_goals) + self.current_goals = list(self.changed_goals) + self.goal_change_applied = True + self.disruption_action = self.successful_actions[-1] if self.successful_actions else None + self.disruption_action_index = len(self.attempted_actions) + self.state_at_disruption = { + 'current_location': current_location, + 'visited': sorted(visited), + } + self._write_event( + 'execution_disruption_detected', + action=self.disruption_action, + action_index=self.disruption_action_index, + failure_reason='goal_changed', + previous_goals=previous_goals, + changed_goals=self.current_goals, + state_at_disruption=self.state_at_disruption) + self._write_event( + 'execution_stopped_for_replanning', + reason='goal_changed', + current_location=current_location, + active_goals=self._active_goals()) + return True + + def execute_until_failure_or_goal(self, actions, current_location, visited, edges): + executed = 0 + for action in actions: + parts = action.strip('()').split() + if len(parts) != 3 or parts[0] != 'move': + self.failed_actions.append(action) + return current_location, visited, edges, executed, True, 'invalid_action' + _, source, target = parts + self.attempted_actions.append(action) + self._write_event('action_dispatch_started', action=action, active_goals=self._active_goals()) + if source != current_location: + self.failed_actions.append(action) + self._write_event('action_failed', action=action, failure_reason='state_mismatch') + return current_location, visited, edges, executed, True, 'state_mismatch' + if self.replanning_case in (BLOCKED_EDGE_CASE, BOTH_CASE): + edges, disturbed = self._trigger_disturbance(action, source, target, edges, current_location, visited) + if disturbed: + self._write_event( + 'execution_stopped_for_replanning', + reason='blocked_edge', + current_location=current_location, + active_goals=self._active_goals()) + return current_location, visited, edges, executed, True, 'blocked_edge' + if bool(self.get_parameter('execute_actions').value) and not self._call_action('move', [source, target]): + self.blocked_edge = (source, target) + self.blocked_locations.add(target) + edges = self._remove_location_edges(edges, target) + self.failed_actions.append(action) + self._write_event( + 'action_failed', + action=action, + failure_reason='action_execution_failed', + blocked_location=target) + self.get_logger().warn( + f'Action {action} failed or goal was rejected; marking {target} inaccessible ' + f'and replanning without any connections to or from it') + return current_location, visited, edges, executed, True, 'action_execution_failed' + current_location = target + visited.add(target) + executed += 1 + self.successful_actions.append(action) + self._write_event('action_succeeded', action=action, current_location=current_location) + if self._maybe_trigger_goal_change(current_location, visited): + return current_location, visited, edges, executed, True, 'goal_changed' + if self._goals_reached(visited): + return current_location, visited, edges, executed, False, '' + return current_location, visited, edges, executed, not self._goals_reached(visited), 'goals_not_reached' + + def run_demo(self): + self.configure_planner() + mission_start_ns = time.monotonic_ns() + self._write_event('mission_started', active_goals=self._active_goals()) + current_location = INITIAL_LOCATION + visited = {INITIAL_LOCATION} + edges = list(EDGES) + max_replans = int(self.get_parameter('max_replans').value) + total_executed = 0 + failure_reason = '' + + problem = make_problem(current_location, visited, edges, self.current_goals, self.blocked_locations) + plan = self.get_plan(problem, 'initial') + self.first_plan_length = len(plan) + + while rclpy.ok(): + current_location, visited, edges, executed, failed, failure_reason = self.execute_until_failure_or_goal( + plan, current_location, visited, edges) + total_executed += executed + active_goals = self._active_goals() + if not failed and all(goal in visited for goal in active_goals): + self.final_plan_length = len(plan) + break + if self.replans >= max_replans: + break + self.replans += 1 + replanning_problem = make_problem(current_location, visited, edges, self.current_goals, self.blocked_locations) + self._write_event( + 'replanning_triggered', + replan_index=self.replans, + current_location=current_location, + visited=sorted(visited), + removed_edge=list(self.blocked_edge) if self.blocked_edge else None, + blocked_locations=sorted(self.blocked_locations), + active_goals=active_goals, + failure_reason=failure_reason, + problem=replanning_problem) + self.get_logger().warn( + f'Replanning #{self.replans} after {failure_reason}; current_location={current_location}, ' + f'visited={sorted(visited)}, active_goals={active_goals}, removed_edge={self.blocked_edge}, ' + f'blocked_locations={sorted(self.blocked_locations)}') + plan = self.get_plan(replanning_problem, f'replan_{self.replans}') + self.actions_at_last_replan = len(self.successful_actions) + + active_goals = self._active_goals() + goals_achieved = [goal for goal in self.current_goals if goal in visited] + goals_unachieved = [goal for goal in active_goals if goal not in visited] + success = all(goal in visited for goal in active_goals) + if not self.final_plan_length and plan: + self.final_plan_length = len(plan) + mission_time_s = (time.monotonic_ns() - mission_start_ns) / 1e9 + execution_disruption_detected = self.disruption_action is not None + replanning_triggered = self.replans > 0 + valid_replanning_trial = success and execution_disruption_detected and replanning_triggered + recovery_success_after_disruption = success and execution_disruption_detected + summary = { + 'run_id': self.run_id, + 'scenario': self._scenario_name(), + 'replanning_case': self.replanning_case, + 'pipeline': self.pipeline, + 'success': success, + 'execution_disruption_detected': execution_disruption_detected, + 'replanning_triggered': replanning_triggered, + 'valid_replanning_trial': valid_replanning_trial, + 'recovery_success_after_disruption': recovery_success_after_disruption, + 'planning_time_total_s': sum(self.planning_times), + 'planning_time_initial_s': self.planning_times[0] if self.planning_times else None, + 'replanning_latency_s': self.replanning_times[0] if self.replanning_times else None, + 'replanning_time_mean_s': sum(self.replanning_times) / len(self.replanning_times) if self.replanning_times else 0.0, + 'initial_plan_length': self.first_plan_length, + 'final_plan_length': self.final_plan_length, + 'replan_plan_lengths': [plan['plan_length'] for plan in self.plan_history if plan['reason'].startswith('replan')], + 'initial_plan_unit_action_cost': self.first_plan_length, + 'final_plan_unit_action_cost': self.final_plan_length, + 'replan_plan_unit_action_costs': [plan['plan_length'] for plan in self.plan_history if plan['reason'].startswith('replan')], + 'total_generated_plan_actions': sum(plan['plan_length'] for plan in self.plan_history), + 'plan_history': self.plan_history, + 'mission_time_s': mission_time_s, + 'replans': self.replans, + 'attempted_actions': len(self.attempted_actions), + 'attempted_action_trace': self.attempted_actions, + 'successful_actions': total_executed, + 'successful_action_trace': self.successful_actions, + 'failed_actions': len(self.failed_actions), + 'failed_action_trace': self.failed_actions, + 'configured_blocked_edge': list(self.configured_blocked_edge), + 'configured_blocked_edge_used': self.disturbance_trigger == 'on_edge_attempt', + 'disturbance_trigger': self.disturbance_trigger, + 'goal_change_applied': self.goal_change_applied, + 'initial_goals': self.initial_goals, + 'changed_goals': self.changed_goals, + 'disruption_action': self.disruption_action, + 'disruption_action_index': self.disruption_action_index, + 'state_at_disruption': self.state_at_disruption, + 'blocked_edge': list(self.blocked_edge) if self.blocked_edge else None, + 'blocked_locations': sorted(self.blocked_locations), + 'active_goals': active_goals, + 'goals': self.current_goals, + 'goals_achieved': goals_achieved, + 'goals_unachieved': goals_unachieved, + 'goal_achievement_ratio': len(goals_achieved) / len(self.current_goals) if self.current_goals else 1.0, + 'plan_quality_metric': 'unit_action_count', + 'failure_reason': '' if success else failure_reason, + 'events_file': str(self.events_path), + } + self.summary_path.write_text(json.dumps(summary, indent=2, sort_keys=True) + '\n') + self._write_event('mission_succeeded' if success else 'mission_failed', **summary) + self.get_logger().info(f'Wrote replanning summary to {self.summary_path}') + return success + + +def main(args=None): + rclpy.init(args=args) + node = PlanSys2ReplanningCasesDemo() + try: + success = node.run_demo() + finally: + node.destroy_node() + rclpy.shutdown() + return 0 if success else 1 + + +if __name__ == '__main__': + raise SystemExit(main()) diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_check_wp_action.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_check_wp_action.py index 7db2002..dbd247e 100644 --- a/upf4ros2_demo/upf4ros2_demo/upf4ros2_check_wp_action.py +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_check_wp_action.py @@ -41,7 +41,7 @@ def __init__(self): self._get_problem = self.create_client( GetProblem, 'upf4ros2/get_problem') self._set_initial_value = self.create_client( - SetInitialValue, 'upf4ros2/set_initial_value') + SetInitialValue, 'upf4ros2/srv/set_initial_value') self.create_service( CallAction, 'check_wp', self.__execute_callback) diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_collect_action.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_collect_action.py new file mode 100644 index 0000000..1bba486 --- /dev/null +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_collect_action.py @@ -0,0 +1,136 @@ +from typing import List +import rclpy + +from geometry_msgs.msg import Pose +from nav2_msgs.action import NavigateToPose +from upf4ros2_demo_msgs.srv import CallAction +from upf4ros2.ros2_interface_reader import ROS2InterfaceReader +from upf4ros2.ros2_interface_writer import ROS2InterfaceWriter +from unified_planning import model +from unified_planning import shortcuts +from upf_msgs import msg as msgs +from std_msgs.msg import String +from upf4ros2_demo_msgs.srv import CallAction + +from upf_msgs.srv import ( + SetInitialValue, + GetProblem +) + +from simple_node import Node + + +class CollectAction(Node): + + def __init__(self): + super().__init__('upf4ros2_collect_action') + + self._problem_name = 'test' + + self._userType_location = shortcuts.UserType('location') + self._userType_crop = shortcuts.UserType('crop') + self._fluent_collected = model.Fluent( + "collected", + shortcuts.BoolType(), + [model.Parameter('c', self._userType_crop)]) + + self._fluent_is_mature = model.Fluent( + "is_mature", shortcuts.BoolType(), [model.Parameter('c', self._userType_crop)]) + + self._ros2_interface_writer = ROS2InterfaceWriter() + self._ros2_interface_reader = ROS2InterfaceReader() + + self._get_problem = self.create_client( + GetProblem, 'upf4ros2/srv/get_problem') + self._set_initial_value = self.create_client( + SetInitialValue, 'upf4ros2/srv/set_initial_value') + + self.create_service( + CallAction, 'collect', self.__execute_callback) + + def get_problem(self): + """ get actual state of the problem + Args: + + """ + srv = GetProblem.Request() + srv.problem_name = self._problem_name + + self._get_problem.wait_for_service() + self.res = self._get_problem.call(srv) + # problem = self._ros2_interface_reader.convert(self.future.result().problem) + problem = self.res.problem + return problem + + def set_initial_value(self, fluent, object, value_fluent): + """ set initial value to the fluent + Args: + fluent (up.model.Fluent): fluent + object (up.model.Object): fluent's object + value_fluent (bool): new value + """ + srv = SetInitialValue.Request() + srv.problem_name = self._problem_name + srv.expression = self._ros2_interface_writer.convert(fluent(object)) + + item = msgs.ExpressionItem() + item.atom.append(msgs.Atom()) + item.atom[0].boolean_atom.append(value_fluent) + item.type = 'up:bool' + item.kind = msgs.ExpressionItem.CONSTANT + value = msgs.Expression() + value.expressions.append(item) + value.level.append(0) + + srv.value = value + + self._set_initial_value.wait_for_service() + self.future = self._set_initial_value.call(srv) + + self.get_logger().info( + f'Set {fluent.name}({object.name}) with value: {value_fluent}') + + def __execute_callback(self, request, response): + """ srv callback to call the NavigateToPose action + Args: + request (CallAction.Request): request with the action's name and parameters + response (CallAction.Response): response with the result of the action + Returns: + CallAction.Response: response with the result of the action + """ + #self.get_logger().info("entra en collect") + # problem = self._ros2_interface_reader.convert(self.get_problem()) + #self.get_logger().info(f'{request}') + + crop = request.parameters[0].symbol_atom[0] + c = model.Object(crop, self._userType_crop) + + # self.get_logger().info(f'initial values: {problem.initial_values}') + # self.get_logger().info(f'is_mature: {problem.initial_values[self._fluent_is_mature(c)]}') + + # if str(problem.initial_values[self._fluent_is_mature(c)]) == 'true': + + self.get_logger().info("Starting action " + request.action_name) + self.get_logger().info(str(crop) + " collected.") + + self.set_initial_value(self._fluent_collected, c, True) + response.result = True + # else: + # self.get_logger().info("Cannot collect "+str(crop)+" because the is not madure.") + # response.result = False + + return response + + +def main(args=None): + rclpy.init(args=args) + + check_wp_action = CollectAction() + + check_wp_action.join_spin() + + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo2.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo2.py index c441737..88f28cd 100644 --- a/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo2.py +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo2.py @@ -51,17 +51,17 @@ def __init__(self): 'upf4ros2/planOneShotPDDL') self._get_problem = self.create_client( - GetProblem, 'upf4ros2/get_problem') + GetProblem, 'upf4ros2/srv/get_problem') self._new_problem = self.create_client( - NewProblem, 'upf4ros2/new_problem') + NewProblem, 'upf4ros2/srv/new_problem') self._add_fluent = self.create_client( - AddFluent, 'upf4ros2/add_fluent') + AddFluent, 'upf4ros2/srv/add_fluent') self._add_action = self.create_client( - AddAction, 'upf4ros2/add_action') + AddAction, 'upf4ros2/srv/add_action') self._add_object = self.create_client( - AddObject, 'upf4ros2/add_object') + AddObject, 'upf4ros2/srv/add_object') self._set_initial_value = self.create_client( - SetInitialValue, 'upf4ros2/set_initial_value') + SetInitialValue, 'upf4ros2/srv/set_initial_value') self._add_goal = self.create_client( AddGoal, 'upf4ros2/add_goal') self._plan_one_shot_client_srv = self.create_client( @@ -71,9 +71,13 @@ def new_problem(self, problem_name): srv = NewProblem.Request() srv.problem_name = problem_name + self.get_logger().info(f'Creating new problem with name: {problem_name}...') + self._new_problem.wait_for_service() self.future = self._new_problem.call_async(srv) + self.get_logger().info('Waiting for the problem to be created...') rclpy.spin_until_future_complete(self, self.future) + self.get_logger().info('Problem created!') self._problem_name = problem_name self.get_logger().info( @@ -171,8 +175,10 @@ def add_goal(self, goal): upf_goal = msgs.Goal() upf_goal.goal = self._ros2_interface_writer.convert(goal) srv.goal.append(upf_goal) + self.get_logger().info(f'Adding goal: {goal}') self._add_goal.wait_for_service() + self.get_logger().info('Waiting for the goal to be added...') self.future = self._add_goal.call_async(srv) rclpy.spin_until_future_complete(self, self.future) @@ -258,11 +264,14 @@ def main(args=None): # test is the name of the problem for the demo upf4ros2_demo_node = UPF4ROS2DemoNode() + upf4ros2_demo_node.get_logger().info('Starting UPF4ROS2 demo node...') upf4ros2_demo_node.new_problem('test') problem = upf4ros2_demo_node._ros2_interface_reader.convert( upf4ros2_demo_node.get_problem()) + upf4ros2_demo_node.get_logger().info(f'{problem}') + # usertype is the type of the fluent's object # usertype can be 'up:bool', 'up:integer', 'up:integer[]', 'up:real', # 'up:real[]', shortcuts.UserType('name') diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo3_harvest.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo3_harvest.py new file mode 100644 index 0000000..6be2283 --- /dev/null +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo3_harvest.py @@ -0,0 +1,328 @@ +import rclpy +from rclpy.action import ActionClient +# from rclpy.node import Node +from simple_node import Node + +from unified_planning import model + +from upf4ros2.ros2_interface_reader import ROS2InterfaceReader +from upf4ros2.ros2_interface_writer import ROS2InterfaceWriter +from unified_planning import model +from unified_planning import shortcuts +from unified_planning.shortcuts import Not +from upf_msgs import msg as msgs +from upf4ros2_demo_msgs.srv import CallAction + +from upf_msgs.srv import ( + AddAction, + AddFluent, + AddGoal, + AddObject, + GetProblem, + NewProblem, + SetInitialValue +) + +from upf_msgs.srv import PlanOneShot as PlanOneShotSrv + + +class UPF4ROS2DemoNode(Node): + + def __init__(self): + super().__init__('upf4ros2_demo3_harvest') + + self._problem_name = '' + self._plan_result = {} + + self._ros2_interface_writer = ROS2InterfaceWriter() + self._ros2_interface_reader = ROS2InterfaceReader() + + self._get_problem = self.create_client( + GetProblem, 'upf4ros2/srv/get_problem') + self._new_problem = self.create_client( + NewProblem, 'upf4ros2/srv/new_problem') + self._add_fluent = self.create_client( + AddFluent, 'upf4ros2/srv/add_fluent') + self._add_action = self.create_client( + AddAction, 'upf4ros2/srv/add_action') + self._add_object = self.create_client( + AddObject, 'upf4ros2/srv/add_object') + self._set_initial_value = self.create_client( + SetInitialValue, 'upf4ros2/srv/set_initial_value') + self._add_goal = self.create_client( + AddGoal, 'upf4ros2/add_goal') + self._plan_one_shot_client_srv = self.create_client( + PlanOneShotSrv, 'upf4ros2/srv/planOneShot') + + + def new_problem(self, problem_name): + srv = NewProblem.Request() + srv.problem_name = problem_name + + self._new_problem.wait_for_service() + self.future = self._new_problem.call(srv) + + self._problem_name = problem_name + self.get_logger().info( + f'Create the problem with name: {srv.problem_name}') + + def get_problem(self): + srv = GetProblem.Request() + srv.problem_name = self._problem_name + + self._get_problem.wait_for_service() + self.res = self._get_problem.call(srv) + # problem = self._ros2_interface_reader.convert(self.future.result().problem) + problem = self.res.problem + return problem + + def add_fluent(self, problem, fluent_name, user_types): + list_parameters = [model.Parameter(f"{t.name}_{i}", t) for i, t in enumerate(user_types)] + + fluent = model.Fluent(fluent_name, shortcuts.BoolType(), list_parameters) + srv = AddFluent.Request() + srv.problem_name = self._problem_name + srv.fluent = self._ros2_interface_writer.convert(fluent, problem) + + item = msgs.ExpressionItem() + item.atom.append(msgs.Atom()) + item.atom[0].boolean_atom.append(False) + item.type = 'up:bool' + item.kind = msgs.ExpressionItem.CONSTANT + value = msgs.Expression() + value.expressions.append(item) + value.level.append(0) + + srv.default_value = value + + self._add_fluent.wait_for_service() + self.future = self._add_fluent.call(srv) + + self.get_logger().info(f'Add fluent: {fluent_name}') + return fluent + + def add_object(self, object_name, user_type): + upf_object = model.Object(object_name, user_type) + srv = AddObject.Request() + srv.problem_name = self._problem_name + srv.object = self._ros2_interface_writer.convert(upf_object) + + self._add_object.wait_for_service() + self.future = self._add_object.call(srv) + + self.get_logger().info(f'Add Object: {object_name}') + + return upf_object + + def set_initial_value(self, fluent, objects, value_fluent): + srv = SetInitialValue.Request() + srv.problem_name = self._problem_name + srv.expression = self._ros2_interface_writer.convert(fluent(*objects)) + + item = msgs.ExpressionItem() + item.atom.append(msgs.Atom()) + item.atom[0].boolean_atom.append(value_fluent) + item.type = 'up:bool' + item.kind = msgs.ExpressionItem.CONSTANT + value = msgs.Expression() + value.expressions.append(item) + value.level.append(0) + + srv.value = value + + self._set_initial_value.wait_for_service() + self.future = self._set_initial_value.call(srv) + + self.get_logger().info( + f'Set {fluent.name}({(object.name for object in objects)}) with value: {value_fluent}') + + def add_action(self, action): + srv = AddAction.Request() + srv.problem_name = self._problem_name + srv.action = self._ros2_interface_writer.convert(action) + + self._add_action.wait_for_service() + self.future = self._add_action.call(srv) + + self.get_logger().info(f'Add action: {action.name}') + + def add_goal(self, goal): + srv = AddGoal.Request() + srv.problem_name = self._problem_name + upf_goal = msgs.Goal() + upf_goal.goal = self._ros2_interface_writer.convert(goal) + srv.goal.append(upf_goal) + + self._add_goal.wait_for_service() + self.future = self._add_goal.call(srv) + + self.get_logger().info(f'Set new goal!') + + def __cancel_callback(self, action): + # return to old wp + if action.action_name == 'move': + client = self.create_client(CallAction, action.action_name) + while not client.wait_for_service(timeout_sec=1.0): + self.get_logger().info('service not available, waiting again...') + + req = CallAction.Request() + req.action_name = action.action_name + req.parameters = action.parameters[::-1] + self.res = client.call(req) + if self.res.result: + self.get_logger().info('Return to origin wp') + else: + self.get_logger().info('Can not return to the origin wp!') + + def get_plan_srv(self): + + problem = self.get_problem() + + self.get_logger().info('Planning...') + srv = PlanOneShotSrv.Request() + srv.problem = problem + + self._plan_one_shot_client_srv.wait_for_service() + + self.res = self._plan_one_shot_client_srv.call(srv) + + plan_result = self.res.plan_result + + for action in plan_result.plan.actions: + + params = [x.symbol_atom[0] for x in action.parameters] + self.get_logger().info(action.action_name + "(" + ", ".join(params) + ")") + + for action in plan_result.plan.actions: + + client = self.create_client(CallAction, action.action_name) + while not client.wait_for_service(timeout_sec=1.0): + self.get_logger().info('service not available, waiting again...') + req = CallAction.Request() + req.action_name = action.action_name + req.parameters = action.parameters + + self.res = client.call(req) + + if self.res.result: + self.get_logger().info('Action completed') + else: + self.get_logger().info('Action cancelled!') + self.__cancel_callback(action) + + +def main(args=None): + rclpy.init(args=args) + + # test is the name of the problem for the demo + upf4ros2_demo_node = UPF4ROS2DemoNode() + + upf4ros2_demo_node.new_problem('harvest') + problem = upf4ros2_demo_node._ros2_interface_reader.convert( + upf4ros2_demo_node.get_problem()) + + + # usertype is the type of the fluent's object + # usertype can be 'up:bool', 'up:integer', 'up:integer[]', 'up:real', + # 'up:real[]', shortcuts.UserType('name') + location = shortcuts.UserType('location') + crop = shortcuts.UserType('crop') + + robot_at = upf4ros2_demo_node.add_fluent(problem, 'robot_at', [location]) + wp_checked = upf4ros2_demo_node.add_fluent(problem, 'wp_checked', [location]) + crop_at = upf4ros2_demo_node.add_fluent(problem, 'crop_at', [crop, location]) + is_connected = upf4ros2_demo_node.add_fluent(problem, 'is_connected', [location, location]) + is_mature = upf4ros2_demo_node.add_fluent(problem, 'is_mature', [crop]) + collected = upf4ros2_demo_node.add_fluent(problem, 'collected', [crop]) + + base = upf4ros2_demo_node.add_object('base', location) + wp1 = upf4ros2_demo_node.add_object('wp1', location) + wp2 = upf4ros2_demo_node.add_object('wp2', location) + wp3 = upf4ros2_demo_node.add_object('wp3', location) + tomato1 = upf4ros2_demo_node.add_object('tomato1', crop) + tomato2 = upf4ros2_demo_node.add_object('tomato2', crop) + tomato3 = upf4ros2_demo_node.add_object('tomato3', crop) + + + upf4ros2_demo_node.set_initial_value(robot_at, [base], True) + upf4ros2_demo_node.set_initial_value(is_connected, [base, wp1], True) + upf4ros2_demo_node.set_initial_value(is_connected, [wp1, wp2], True) + upf4ros2_demo_node.set_initial_value(is_connected, [wp2, wp3], True) + upf4ros2_demo_node.set_initial_value(is_connected, [wp3, base], True) + upf4ros2_demo_node.set_initial_value(is_connected, [wp2, base], True) + upf4ros2_demo_node.set_initial_value(crop_at, [tomato1, wp1], True) + upf4ros2_demo_node.set_initial_value(crop_at, [tomato2, wp2], True) + upf4ros2_demo_node.set_initial_value(crop_at, [tomato3, wp3], True) + upf4ros2_demo_node.set_initial_value(is_mature, [tomato3], False) + upf4ros2_demo_node.set_initial_value(is_mature, [tomato2], True) + + # Define navigation action (InstantaneousAction or DurativeAction) + move = model.InstantaneousAction('move', l_from=location, l_to=location) + # move = model.DurativeAction('move', l_from=location, l_to=location) + # If DurativeAction + # Set the action's duration (set_closed_duration_interval, set_open_duration_interval, set_fixed_duration, set_left_open_duration_interval or set_right_open_duration_interval) + # move.set_closed_duration_interval(0, 10) + + l_from = move.parameter('l_from') + l_to = move.parameter('l_to') + + move.add_precondition(robot_at(l_from)) + move.add_precondition(is_connected(l_from, l_to)) + # move.add_condition(model.StartTiming(), robot_at(l_from)) + move.add_effect(robot_at(l_from), False) + move.add_effect(robot_at(l_to), True) + + # ------------------------------------- # + # Define check wp action + check_wp = model.InstantaneousAction('check_wp', wp=location) + wp = check_wp.parameter('wp') + check_wp.add_precondition(robot_at(wp)) + check_wp.add_effect(wp_checked(wp), True) + + # ------------------------------------- # + # Collect action + collect = model.InstantaneousAction('collect', c=crop, l_at=location) + c = collect.parameter('c') + l_at = collect.parameter('l_at') + collect.add_precondition(robot_at(l_at)) + collect.add_precondition(crop_at(c,l_at)) + collect.add_precondition(is_mature(c)) + collect.add_precondition(Not(collected(c))) + collect.add_effect(collected(c), True) + + # ------------------------------------- # + # Unload action + # unload = model.InstantaneousAction('unload', c=crop, l_to=location) + # c_c = unload.parameter('c') + # l = unload.parameter('l_to') + # unload.add_precondition(robot_at(l)) + # unload.add_precondition(collected(c_c)) + # unload.add_effect(collected(c_c), False) + + upf4ros2_demo_node.add_action(move) + upf4ros2_demo_node.add_action(check_wp) + upf4ros2_demo_node.add_action(collect) + + + upf4ros2_demo_node.add_goal(robot_at(base)) + upf4ros2_demo_node.add_goal(collected(tomato2)) + + + problem_old_upf = upf4ros2_demo_node.get_problem() + problem_old = upf4ros2_demo_node._ros2_interface_reader.convert( + problem_old_upf) + upf4ros2_demo_node.get_logger().info(f'{problem_old}') + + upf4ros2_demo_node.get_plan_srv() + + problem_updated = upf4ros2_demo_node._ros2_interface_reader.convert( + upf4ros2_demo_node.get_problem()) + upf4ros2_demo_node.get_logger().info(f'{problem_updated}') + + upf4ros2_demo_node.join_spin() + + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo3_replan.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo3_replan.py new file mode 100644 index 0000000..047368a --- /dev/null +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo3_replan.py @@ -0,0 +1,317 @@ +import time + +import rclpy +from rclpy.node import Node +from unified_planning import model, shortcuts + +from upf4ros2.ros2_interface_reader import ROS2InterfaceReader +from upf4ros2.ros2_interface_writer import ROS2InterfaceWriter +from upf4ros2_demo_msgs.srv import CallAction +from upf_msgs import msg as msgs +from upf_msgs.srv import ( + AddAction, + AddFluent, + AddGoal, + AddObject, + GetProblem, + NewProblem, + PlanOneShot as PlanOneShotSrv, + SetInitialValue, +) + + +class UPF4ROS2Demo3ReplanNode(Node): + + def __init__(self): + super().__init__('upf4ros2_demo3_replan') + + self.declare_parameter('problem_name', 'replan_demo') + self.declare_parameter('execute_actions', True) + self.declare_parameter('simulate_block_first_move', True) + self.declare_parameter('max_replans', 3) + + self._problem_name = self.get_parameter('problem_name').value + self._execute_actions = bool(self.get_parameter('execute_actions').value) + self._simulate_block_first_move = bool( + self.get_parameter('simulate_block_first_move').value) + self._max_replans = int(self.get_parameter('max_replans').value) + + self._writer = ROS2InterfaceWriter() + self._reader = ROS2InterfaceReader() + self._location_type = shortcuts.UserType('location') + self._objects = {} + self._current_location = 'livingroom' + self._checked = set() + self._blocked_once = False + self._replans = 0 + + self._get_problem_client = self.create_client(GetProblem, 'upf4ros2/srv/get_problem') + self._new_problem_client = self.create_client(NewProblem, 'upf4ros2/srv/new_problem') + self._add_fluent_client = self.create_client(AddFluent, 'upf4ros2/srv/add_fluent') + self._add_action_client = self.create_client(AddAction, 'upf4ros2/srv/add_action') + self._add_object_client = self.create_client(AddObject, 'upf4ros2/srv/add_object') + self._set_initial_value_client = self.create_client( + SetInitialValue, 'upf4ros2/srv/set_initial_value') + self._add_goal_client = self.create_client(AddGoal, 'upf4ros2/add_goal') + self._plan_one_shot_client = self.create_client( + PlanOneShotSrv, 'upf4ros2/srv/planOneShot') + + def _call(self, client, request, timeout_s=30.0): + if not client.wait_for_service(timeout_sec=timeout_s): + raise RuntimeError(f'Service {client.srv_name} is not available') + future = client.call_async(request) + rclpy.spin_until_future_complete(self, future, timeout_sec=timeout_s) + if not future.done() or future.result() is None: + raise RuntimeError(f'Service {client.srv_name} did not respond') + response = future.result() + if hasattr(response, 'success') and not response.success: + message = getattr(response, 'message', '') + raise RuntimeError(f'Service {client.srv_name} failed: {message}') + return response + + def _bool_expression(self, value): + item = msgs.ExpressionItem() + item.atom.append(msgs.Atom()) + item.atom[0].boolean_atom.append(value) + item.type = 'up:bool' + item.kind = msgs.ExpressionItem.CONSTANT + expression = msgs.Expression() + expression.expressions.append(item) + expression.level.append(0) + return expression + + def _get_upf_problem_msg(self): + request = GetProblem.Request() + request.problem_name = self._problem_name + return self._call(self._get_problem_client, request).problem + + def _add_fluent_to_problem(self, problem, fluent_name, *params): + fluent = model.Fluent(fluent_name, shortcuts.BoolType(), **dict(params)) + request = AddFluent.Request() + request.problem_name = self._problem_name + request.fluent = self._writer.convert(fluent, problem) + request.default_value = self._bool_expression(False) + self._call(self._add_fluent_client, request) + self.get_logger().info(f'Added fluent {fluent_name}') + return fluent + + def _add_object_to_problem(self, name): + upf_object = model.Object(name, self._location_type) + request = AddObject.Request() + request.problem_name = self._problem_name + request.object = self._writer.convert(upf_object) + self._call(self._add_object_client, request) + self._objects[name] = upf_object + return upf_object + + def _set_initial_value(self, fluent, objects, value): + request = SetInitialValue.Request() + request.problem_name = self._problem_name + request.expression = self._writer.convert(fluent(*objects)) + request.value = self._bool_expression(value) + self._call(self._set_initial_value_client, request) + + def _add_action_to_problem(self, action): + request = AddAction.Request() + request.problem_name = self._problem_name + request.action = self._writer.convert(action) + self._call(self._add_action_client, request) + self.get_logger().info(f'Added action {action.name}') + + def _add_goal_to_problem(self, goal): + request = AddGoal.Request() + request.problem_name = self._problem_name + goal_msg = msgs.Goal() + goal_msg.goal = self._writer.convert(goal) + request.goal.append(goal_msg) + self._call(self._add_goal_client, request) + + def _create_problem(self): + request = NewProblem.Request() + request.problem_name = self._problem_name + self._call(self._new_problem_client, request) + + problem = self._reader.convert(self._get_upf_problem_msg()) + + self.robot_at = self._add_fluent_to_problem(problem, 'robot_at', ('object', self._location_type)) + self.wp_checked = self._add_fluent_to_problem(problem, 'wp_checked', ('object', self._location_type)) + self.connected = self._add_fluent_to_problem( + problem, 'connected', ('l_from', self._location_type), ('l_to', self._location_type)) + + for name in ['livingroom', 'entrance', 'kitchen', 'bedroom', 'room', 'gym']: + self._add_object_to_problem(name) + + for name, obj in self._objects.items(): + self._set_initial_value(self.robot_at, [obj], name == self._current_location) + self._set_initial_value(self.wp_checked, [obj], False) + + self._edges = [ + ('livingroom', 'entrance'), + ('entrance', 'livingroom'), + ('livingroom', 'kitchen'), + ('kitchen', 'livingroom'), + ('entrance', 'kitchen'), + ('kitchen', 'entrance'), + ('kitchen', 'bedroom'), + ('bedroom', 'kitchen'), + ('bedroom', 'room'), + ('room', 'bedroom'), + ('room', 'gym'), + ('gym', 'room'), + ('kitchen', 'gym'), + ('gym', 'kitchen'), + ] + for edge in self._edges: + self._set_connected(edge[0], edge[1], True) + + move = model.InstantaneousAction( + 'move', l_from=self._location_type, l_to=self._location_type) + l_from = move.parameter('l_from') + l_to = move.parameter('l_to') + move.add_precondition(self.robot_at(l_from)) + move.add_precondition(self.connected(l_from, l_to)) + move.add_effect(self.robot_at(l_from), False) + move.add_effect(self.robot_at(l_to), True) + + check_wp = model.InstantaneousAction('check_wp', wp=self._location_type) + wp = check_wp.parameter('wp') + check_wp.add_precondition(self.robot_at(wp)) + check_wp.add_effect(self.wp_checked(wp), True) + + self._add_action_to_problem(move) + self._add_action_to_problem(check_wp) + + for goal in ['entrance', 'gym', 'kitchen']: + self._add_goal_to_problem(self.wp_checked(self._objects[goal])) + + def _set_connected(self, source, target, value): + self._set_initial_value( + self.connected, [self._objects[source], self._objects[target]], value) + + def _set_robot_location(self, location): + old_location = self._current_location + self._set_initial_value(self.robot_at, [self._objects[old_location]], False) + self._set_initial_value(self.robot_at, [self._objects[location]], True) + self._current_location = location + + def _set_checked(self, location): + self._set_initial_value(self.wp_checked, [self._objects[location]], True) + self._checked.add(location) + + def _get_plan(self, reason): + problem = self._get_upf_problem_msg() + request = PlanOneShotSrv.Request() + request.problem = problem + self.get_logger().info(f'Planning request ({reason})') + start = time.monotonic() + response = self._call(self._plan_one_shot_client, request) + elapsed = time.monotonic() - start + plan_result = response.plan_result + actions = list(plan_result.plan.actions) + if not response.success or not actions: + raise RuntimeError(f'No plan found during {reason}: {response.message}') + self.get_logger().info( + f'Planning response ({reason}): {len(actions)} actions in {elapsed:.4f} s') + for action in actions: + self.get_logger().info(' ' + self._action_to_string(action)) + return actions + + def _action_to_string(self, action): + params = [param.symbol_atom[0] for param in action.parameters] + return action.action_name + '(' + ', '.join(params) + ')' + + def _action_params(self, action): + return [param.symbol_atom[0] for param in action.parameters] + + def _call_action_service(self, action): + client = self.create_client(CallAction, action.action_name) + if not client.wait_for_service(timeout_sec=10.0): + raise RuntimeError(f'Action service {action.action_name} is not available') + request = CallAction.Request() + request.action_name = action.action_name + request.parameters = action.parameters + response = self._call(client, request, timeout_s=300.0) + return bool(response.result) + + def _execute_or_simulate(self, action): + params = self._action_params(action) + + if action.action_name == 'move': + source, target = params + if self._simulate_block_first_move and not self._blocked_once: + self._blocked_once = True + self.get_logger().warn( + f'Simulating blocked connection {source} -> {target}; replanning required') + self._set_connected(source, target, False) + return False + + if self._execute_actions: + success = self._call_action_service(action) + if not success: + self.get_logger().warn( + f'Move {source} -> {target} failed; disabling connection and replanning') + self._set_connected(source, target, False) + return False + + self._set_robot_location(target) + return True + + if action.action_name == 'check_wp': + waypoint = params[0] + if waypoint != self._current_location: + self.get_logger().warn( + f'Cannot check {waypoint}: robot is at {self._current_location}') + return False + if self._execute_actions: + success = self._call_action_service(action) + if not success: + return False + self._set_checked(waypoint) + return True + + self.get_logger().warn(f'Unknown action {action.action_name}') + return False + + def run(self): + self._create_problem() + plan = self._get_plan('initial') + + while rclpy.ok(): + failed = False + for action in plan: + self.get_logger().info(f'Executing {self._action_to_string(action)}') + if not self._execute_or_simulate(action): + failed = True + break + + if {'entrance', 'gym', 'kitchen'}.issubset(self._checked): + self.get_logger().info( + f'Mission completed with {self._replans} replanning events') + return True + + if not failed: + self.get_logger().error('Plan ended before all goals were achieved') + return False + + if self._replans >= self._max_replans: + self.get_logger().error('Maximum replans reached; mission failed') + return False + + self._replans += 1 + self.get_logger().warn(f'Replanning triggered ({self._replans}/{self._max_replans})') + plan = self._get_plan(f'replan_{self._replans}') + + +def main(args=None): + rclpy.init(args=args) + node = UPF4ROS2Demo3ReplanNode() + try: + success = node.run() + finally: + node.destroy_node() + rclpy.shutdown() + return 0 if success else 1 + + +if __name__ == '__main__': + raise SystemExit(main()) diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_navigation_action.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_navigation_action.py index 04eccad..26e75ab 100644 --- a/upf4ros2_demo/upf4ros2_demo/upf4ros2_navigation_action.py +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_navigation_action.py @@ -53,7 +53,7 @@ def __init__(self): '/navigate_to_pose') self._set_initial_value = self.create_client( - SetInitialValue, 'upf4ros2/set_initial_value') + SetInitialValue, 'upf4ros2/srv/set_initial_value') self.create_service( CallAction, 'move', self.__execute_callback) @@ -98,7 +98,11 @@ def set_initial_value(self, fluent, object, value_fluent): srv.value = value - self._set_initial_value.wait_for_service() + if not self._set_initial_value.wait_for_service(timeout_sec=1.0): + self.get_logger().warn( + 'upf4ros2/srv/set_initial_value is not available; skipping external problem state update') + return + self.future = self._set_initial_value.call(srv) self.get_logger().info( @@ -135,6 +139,7 @@ def __execute_callback(self, request, response): self.get_logger().info("Goal to " + str(wp) + " done") self.set_initial_value(self._fluent, l1, False) self.set_initial_value(self._fluent, l2, True) + response.result = True else: self.get_logger().info("Goal to " + str(wp) + " was rejected!") @@ -148,9 +153,13 @@ def main(args=None): navigation_action = NavigationAction() - navigation_action.join_spin() + try: + navigation_action.join_spin() + except KeyboardInterrupt: + pass - rclpy.shutdown() + if rclpy.ok(): + rclpy.shutdown() if __name__ == '__main__':