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PDDL Feature Support

This document describes the PDDL features are currently supported by plasps very own translator.

This doesnt cover PDDL feature support through SAS conversion with Fast Downward (please refer to Fast Downwards homepage for more information).

The table below lists the features of PDDL 3.1 and whether or not they are supported by plasp. Unless otherwise noted, this refers to plasps parser, normalizer, translator, and ASP output format.

PDDL feature description supported by plasp
STRIPS basic STRIPS functionality, the general PDDL sections (:domain, :problem, :predicates, :action) yes
typing typed variables and constants, type inheritance yes (except for either type directives)
negative preconditions typed variables and constants, type inheritance yes
disjunctive preconditions or expressions in preconditions yes
existential preconditions exists expressions in preconditions yes
universal preconditions forall expressions in preconditions yes
conditional effects when expressions in action effects yes
universal effects forall expressions in effects yes
equality = expressions for atomic formulas no (parser support only)
numeric fluents numeric function definitions in :functions section, assignment operators, arithmetic preconditions no
action costs actions are assigned costs through numeric fluents no
durative actions temporal planning with action durations no
derived predicates predicates whose truth value is defined by a formula no (plasp introduces custom derived predicates to support nested expressions, but derived predicates specified in the PDDL input are currently not supported)
timed initial literals initial state may specify literals that become true at a specified time point no
preferences preferences in action preconditions and goals no
constraints additional constraints for domain and problem no