diff --git a/include/plasp/pddl/TranslatorASP.h b/include/plasp/pddl/TranslatorASP.h
index 534732a..a8b2037 100644
--- a/include/plasp/pddl/TranslatorASP.h
+++ b/include/plasp/pddl/TranslatorASP.h
@@ -33,6 +33,7 @@ class TranslatorASP
 		void translateActions() const;
 
 		void translateProblem() const;
+		void translateObjects() const;
 
 		void translateVariablesHead(const expressions::Variables &variables) const;
   		void translateVariablesBody(const expressions::Variables &variables) const;
diff --git a/src/plasp/pddl/TranslatorASP.cpp b/src/plasp/pddl/TranslatorASP.cpp
index 3d609a0..f6cc81d 100644
--- a/src/plasp/pddl/TranslatorASP.cpp
+++ b/src/plasp/pddl/TranslatorASP.cpp
@@ -1,5 +1,7 @@
 #include <plasp/pddl/TranslatorASP.h>
 
+#include <boost/assert.hpp>
+
 #include <plasp/pddl/expressions/And.h>
 #include <plasp/pddl/expressions/Not.h>
 #include <plasp/pddl/expressions/Predicate.h>
@@ -451,6 +453,41 @@ void TranslatorASP::translateProblem() const
 		<< "%---------------------------------------" << std::endl
 		<< "% problem" << std::endl
 		<< "%---------------------------------------" << std::endl;
+
+	BOOST_ASSERT(m_description.containsProblem());
+
+	const auto &problem = m_description.problem();
+
+	// Objects
+	if (!problem.objects().empty())
+	{
+		m_ostream << std::endl;
+		translateObjects();
+	}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void TranslatorASP::translateObjects() const
+{
+	m_ostream << "% objects";
+
+	const auto &objects = m_description.problem().objects();
+
+	std::for_each(objects.cbegin(), objects.cend(),
+		[&](const auto &object)
+		{
+			m_ostream << std::endl;
+
+			m_ostream << "object(" << object->name() << ")." << std::endl;
+
+			const auto *type = object->type();
+
+			if (type == nullptr)
+				return;
+
+			m_ostream << "hasType(object(" << object->name() << "), type(" << type->name() << "))." << std::endl;
+		});
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////