Added support to TILs in the PDDLWriter

unified_planning/io/pddl_writer.py

@@ -375,12 +375,10 @@ def __init__(
     def _write_domain(self, out: IO[str]):
         if self.problem_kind.has_intermediate_conditions_and_effects():
             raise UPProblemDefinitionError(
-                "PDDL2.1 does not support ICE.\nICE are Intermediate Conditions and Effects therefore when an Effect (or Condition) are not at StartTIming(0) or EndTIming(0)."
-            )
-        if self.problem_kind.has_timed_effects() or self.problem_kind.has_timed_goals():
-            raise UPProblemDefinitionError(
-                "PDDL2.1 does not support timed effects or timed goals."
+                "PDDL does not support ICE.\nICE are Intermediate Conditions and Effects therefore when an Effect (or Condition) are not at StartTIming(0) or EndTIming(0)."
             )
+        if self.problem_kind.has_timed_goals():
+            raise UPProblemDefinitionError("PDDL does not support timed goals.")
         obe = ObjectsExtractor()
         out.write("(define ")
         if self.problem.name is None:
@@ -428,6 +426,8 @@ def _write_domain(self, out: IO[str]):
                 or self.problem_kind.has_plan_length()
             ):
                 out.write(" :action-costs")
+            if self.problem_kind.has_timed_effects():
+                out.write(" :timed-initial-literals")
             out.write(")\n")
 
         if self.problem_kind.has_hierarchical_typing():
@@ -686,7 +686,20 @@ def _write_problem(self, out: IO[str]):
             else:
                 out.write(f" (= {converter.convert(f)} {converter.convert(v)})")
         if self.problem.kind.has_actions_cost() or self.problem.kind.has_plan_length():
-            out.write(f" (= (total-cost) 0)")
+            out.write(" (= (total-cost) 0)")
+        for tm, le in self.problem.timed_effects.items():
+            for e in le:
+                out.write(f" (at {tm.delay}")
+                _write_effect(
+                    e,
+                    None,
+                    out,
+                    converter,
+                    self.rewrite_bool_assignments,
+                    self._get_mangled_name,
+                    True,
+                )
+                out.write(")")
         out.write(")\n")
         goals_str: List[str] = []
         for g in (c.simplify() for c in self.problem.goals):
@@ -985,6 +998,7 @@ def _write_effect(
         ],
         str,
     ],
+    initial: bool = False,
 ):
     simplified_cond = effect.condition.simplify()
     # check for non-constant-bool-assignment
@@ -1061,22 +1075,24 @@ def _write_effect(
     if not simplified_cond.is_true():
         out.write(f" (when {converter.convert(effect.condition)}")
     simplified_value = effect.value.simplify()
+    fluent = converter.convert(effect.fluent)
     if simplified_value.is_true():
-        out.write(f" {converter.convert(effect.fluent)}")
+        out.write(f" {fluent}")
     elif simplified_value.is_false():
-        out.write(f" (not {converter.convert(effect.fluent)})")
+        out.write(f" (not {fluent})")
+    elif initial:
+        value = converter.convert(simplified_value)
+        if effect.is_increase():
+            value = f"(+ {fluent} {value})"
+        elif effect.is_decrease():
+            value = f"(- {fluent} {value})"
+        out.write(f" (= {fluent} {value})")
     elif effect.is_increase():
-        out.write(
-            f" (increase {converter.convert(effect.fluent)} {converter.convert(simplified_value)})"
-        )
+        out.write(f" (increase {fluent} {converter.convert(simplified_value)})")
     elif effect.is_decrease():
-        out.write(
-            f" (decrease {converter.convert(effect.fluent)} {converter.convert(simplified_value)})"
-        )
+        out.write(f" (decrease {fluent} {converter.convert(simplified_value)})")
     else:
-        out.write(
-            f" (assign {converter.convert(effect.fluent)} {converter.convert(simplified_value)})"
-        )
+        out.write(f" (assign {fluent} {converter.convert(simplified_value)})")
     if not simplified_cond.is_true():
         out.write(")")
     if timing is not None:

unified_planning/test/test_pddl_io.py

@@ -479,7 +479,6 @@ def test_examples_io(self):
                 kind.has_intermediate_conditions_and_effects()
                 or kind.has_object_fluents()
                 or kind.has_oversubscription()
-                or kind.has_timed_effects()
                 or kind.has_timed_goals()
                 or kind.has_bool_fluent_parameters()
                 or kind.has_bounded_int_fluent_parameters()