ASP planning tools for PDDL

plasp is a tool collection for planning in answer set programming. plasp 3 supports the input languages PDDL 3.1 (except for advanced features such as durative actions, numerical fluents, and preferences) and SAS (full support of SAS 3), which is used by Fast Downward.

The most notable tool provided by plasp is plasp translate, which translates PDDL descriptions to ASP facts.

PDDL instances are translated to ASP facts as follows:

plasp translate domain.pddl problem.pddl

Alternatively, PDDL instances may first be translated to SAS, the output format of Fast Downward.

./fast-downward.py --translate --build=release64 domain.pddl problem.pddl

This creates a file called output.sas, which may now be translated by plasp as well.

plasp translate output.sas

The translated instance can finally be solved with clingo and a meta encoding, for instance, sequential-horizon.lp:

plasp translate domain.pddl problem.pddl > instance.lp
clingo encodings/sequential-horizon.lp -c horizon=10 instance.lp

plasp translate provides a uniform output format for SAS and PDDL input problems. See output format for more details.

If you want to write your own meta encoding for plasp translate’s output, this simple example encoding gets you started.

plasp <command> [<option>...] [<input file>...]

Aside from translating PDDL to ASP facts, plasp provides the following commands:

plasp help shows a list of all commands provided by plasp. To list all available options of a command, call plasp <command> --help or plasp help <command>.

plasp automatically detects the language (PDDL or SAS) of the input descriptions.

plasp is built with CMake and a C++ compiler. See building for more details.

plasp supports a subset of PDDL 3.1. See PDDL feature support for a list of supported and unsupported PDDL 3.1 features.

• Patrick Lühne
• Martin Gebser (encodings)
• Torsten Schaub (encodings)

• René Knaebel
• Murat Knecht