I faced a problem when state changes in execution time and Act doesn't perform correctly. The plan is not applicable in the current state because of the new change. The Plan phase generates a new plan and adds to it to the set of plans for that goal. Act checks each plan to see which one is applicable. Although it doesn't pick the right plan. It picks the old plan which is not applicable in the current state, and when it executes the action it says this action is illegal in the state.

Many comments point to coding issues to address and use #TODO to mark them. Pycharm will collect all of them and make it easy to find them.

While I was running Logistics_jshop.py and simple_run_jshop.py, I encountered errors related to planning. I am attaching the console outputs for reference.

Logistics_jshop.py :

simple_run_jshop.py:

MIDCA still at python 2.7. Given support stops 1 Jan 21, we should update code to python version 3.

No valid plan found that achieves any current goals.
****** Starting Act Phase ******

MIDCA will not select an action this cycle.
Traceback (most recent call last):
File "C:\Users\Zohreh\git\midca\midca\examples\Logistics_jshop.py", line 63, in
myMidca.run()
File "c:\users\zohreh\git\midca\midca\base.py", line 620, in run
val = self.next_phase()
File "c:\users\zohreh\git\midca\midca\base.py", line 404, in next_phase
val = self.midca.next_phase(verbose)
File "c:\users\zohreh\git\midca\midca\base.py", line 290, in next_phase
retVal = module.run((phaseNum - 1) / len(phases), verbose)
File "c:\users\zohreh\git\midca\midca\modules\act.py", line 157, in run
self.mem.get(self.mem.GOAL_GRAPH).remove(g)
File "c:\users\zohreh\git\midca\midca\goals.py", line 154, in remove
delNode = self._getGoalNode(goal)
File "c:\users\zohreh\git\midca\midca\goals.py", line 291, in _getGoalNode
if self.consistentGoal(goal, next.goal):
File "c:\users\zohreh\git\midca\midca\goals.py", line 105, in consistentGoal
for i in range(len(first.args)):
AttributeError: 'str' object has no attribute 'args'

Uniform goal representation in terms of the following predicate.
requested (asking-agent, asked-agent, goal, optional-explanation)

This involves thesis work by Sampath Gogineni.

File at https://tinyurl.com/midcadoc

midca/domains/blocksworld/util.py: pyhop_tasks_from_goals method doesn't cover all the predicates and operators, the method will break for the "putdown" operator and possibly other operators too. unsure if this happens for other domain's util.py files.

The file midca/tests/test_all_examples.py throws the following errors on files which should be more specific to the error being related to Running ROS on a machine not connected to Neo.
examples/ObjectDetector.py...............................................................[FAILED during initialization]
examples/Calibrate.py............................................................................[FAILED during initialization]

The midca manual link in the Readme.md file is pointed to a google drive link and the link needs to be updated.

The purpose of this issue is to synchronize naming conventions of files under the modules/ directory to correspond to the names of Phases in the MIDCA theory (of which there are six) - this makes it easy for people to read a research paper on MIDCA and quickly identify where the phases are implemented in the code base.

Most module classes are located in a file named by the phase that module is used in: for example PyHopPlanner module is located in the planning.py file corresponding to the planning phase. Currently there is no interpret.py file, instead modules belonging to Interpret phase are located in three different python files note.py, assess.py, and guide.py. This is confusing for new folks joining the project since note assess guide is not referenced anywhere else. Interpret is a large phase conceptually because discrepancy detection (analogous to Note), explanation (analogous to assess) and guide (analogous to goal formulation) all happen within Interpret.

I propose that we make the modules folder contain six sub folders for each theoretical midca phase, so like:

modules/perceive/
modules/interpret/
modules/evaluate/
modules/intend/
modules/plan/
modules/act/

then when importing files, its easy to see what modules are available for each phase because we import like:

from modules.interpret.goal_formulation import SimpleGoalGen

This would also include changing note.py to discrepancy_detection.py, assess.py to explanation.py, and guide.py to goal_generation.py.

Anthony Mitchell's undergrad honors project.

I need to fix some path problem in the code.

See https://fareskalaboud.github.io/LearnPDDL/
and https://planning.wiki/

Dustin's recommendation for clarifying processes and standards.

See wiki at https://github.com/COLAB2/midca/wiki/Relevant-Publications