• The current planner under consideration is lpg-td: ​http://zeus.ing.unibs.it/lpg/
• lpg-td uses the planning language PDDL2.2 (see attached for a very simple example). A description of PDDL2.1 can be found here ​http://www.cs.cmu.edu/afs/cs/project/jair/pub/volume20/fox03a-html/JAIRpddl.html.
• PDDL2.2 requires that the problem be specified using two files (one that defines the operators and one that defines the problem--see attached). See the lpg-td readme for instructions on how to use these.