Open Task Planning Library (OTPL)

This library consists of Python modules that can be used to support PDDL-related projects. The code supports all features of temporal PDDL 2.2.

Current modules include:

• PDDL2.2 parser and data structures.
• Grounding.
• Planning Graphs.
• Plan representations.
• Temporal Networks to represent temporal plans.

Use the examples directory to see more.

Requirements

OTPL makes use of type hinting generics (e.g. l : list[str] = ()) introduced in Python 3.9.

Install the runtime requirements using:

pip install -r requirements.txt

OTPL has the following optional dependencies:

• https://www.antlr.org/ (needed to regenerate the PDDL parser after changes to the ANTLR grammar file.)
• https://www.doxygen.nl/index.html (needed to create a local copy of the documentation.)

Literature

• PDDL - The Planning Domain Definition Language. Ghallab, M., Knoblock, C., Wilkins, D., Barrett, A., Christianson, D., Friedman, M., Kwok, C., Golden, K., Penberthy, S., Smith, D., Sun, Y., & Weld, D. (1998).
• PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains. Fox, M., & Long, D. (2003). http://arxiv.org/abs/1106.4561
• PDDL2.2: The Language for the Classical Part of the 4th International planning Competition. Technical Report No. 195. Institut für Informatik. Edelkamp, S. & Hoffmann, J. (2003). https://gki.informatik.uni-freiburg.de/teaching/ws0607/aip/pddl2.2.pdf