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 ;;;;;;;;;;;;;;;;;;;;;;;;

[pellierd]

There is no planner able to deal with PDDL2.1. To implement a simple temporal planner based on non temporal planning you can refer to PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains written by D. Long and M. Fox.

[antbono]

Thank you @pellierd! Could you suggest me the most recent/advanced type of problem that the solvers in pddl4j can solve at the moment and some related benchmark files? Thank you!