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 translate, which translates PDDL descriptions to ASP facts.
Translating PDDL 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
Solving the Translated Instance
The translated instance can finally be solved with
clingo and a meta encoding, for instance,
plasp translate domain.pddl problem.pddl > instance.lp clingo encodings/sequential-horizon.lp -c horizon=10 instance.lp
Translator Output Format
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:
||Translate PDDL and SAS to ASP facts|
||Normalize PDDL to plasp’s custom PDDL format|
||Check the syntax of PDDL specifications|
||Cleanly format PDDL specifications|
||Display help message|
||Display version information|
plasp help shows a list of all commands provided by
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.
PDDL Feature Support
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