Ho to solve problems with pddl 2.1?

[antbono]

Hi everyone!

I am trying to solve a problem of a simple domain attached. Looking in the planners package, it seems the neither STN or statespace planners supports durative actions and fluents (pddl 2.1). Can anyone confirm that? Thanks

(define (domain simple)
(:requirements :strips :typing :adl :fluents :durative-actions)

;; Types ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(:types
robot
room
);; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;

;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
(:predicates

(robot_at ?r - robot ?ro - room)
(connected ?ro1 ?ro2 - room)
(battery_full ?r - robot)
(battery_low ?r - robot)
(charging_point_at ?ro - room)

);; end Predicates ;;;;;;;;;;;;;;;;;;;;
;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
(:functions

);; end Functions ;;;;;;;;;;;;;;;;;;;;
;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(:durative-action move
    :parameters (?r - robot ?r1 ?r2 - room)
    :duration ( = ?duration 5)
    :condition (and
        (at start(connected ?r1 ?r2))
        (at start(robot_at ?r ?r1))
        (over all(battery_full ?r))
        )
    :effect (and
        (at start(not(robot_at ?r ?r1)))
        (at end(robot_at ?r ?r2))
    )
)

(:durative-action askcharge
    :parameters (?r - robot ?r1 ?r2 - room)
    :duration ( = ?duration 5)
    :condition (and
        (at start(robot_at ?r ?r1))
        (at start(charging_point_at ?r2))
       )
    :effect (and
        (at start(not(robot_at ?r ?r1)))
        (at end(robot_at ?r ?r2))
    )
)

(:durative-action charge
    :parameters (?r - robot ?ro - room)
    :duration ( = ?duration 5)
    :condition (and
        (at start(robot_at ?r ?ro))
        (at start(charging_point_at ?ro))
    )
    :effect (and
         (at end(not(battery_low ?r)))
         (at end(battery_full ?r))
    )
)

);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;