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When the tests pass (they pass on Allegro locally), I will clean up the history and merge |
The translation table (for making a copy of an extended-plan-tree) assumed that it would always be translating actual plan tree nodes. But in dependency links there may appear a "pseudo-node", the symbol `:init`, and this was not handled correctly.
All PDDL domains implicitly have the top type, `object` defined. This was previously not enforced.
Finding k plans is a hybrid of `:which :all` and `:which :first`. Fix the handling of k plans (`plan-num-limit`) in `make-plan-return`.
The `expanded-task` fields of these structures need to be correctly translated; previously only the `task` field was.
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The logic for copying plan trees, to avoid issues with multiple plan tree returns, was incorrect. H/T to @mpatsift for finding this.
Note that this is being fixed for the enhanced plan trees returned by
find-plans-stack.The copying is subtle because the tasks in the plan tree share structure with the tasks in the plan.
Fixes #177