BNF Grammar for PPDDL1.0

We provide the full syntax for PPDDL1.0 using an extended BNF notation with the following conventions:

• Each rule is of the form $\langle$ non-terminal$\rangle$ ::= expansion.
• Alternative expansions are separated by a vertical bar (“|”).
• A syntactic element surrounded by square brackets (“[“ and “]”) is optional.
• Expansions and optional syntactic elements with a superscripted requirements flag are only available if the requirements flag is specified for the domain or problem currently being defined. For example, [$\langle$ types-def$\rangle$] ^:typing in the syntax for domain definitions means that $\langle$ types-def$\rangle$ may only occur in domain definitions that include the :typing flag in the requirements declaration.
• An asterisk (“*”) following a syntactic element x means zero or more occurrences of x; a plus (“⁺”) following x means at least one occurrence of x.
• Parameterized non-terminals, for example $\langle$ typed list (x)$\rangle$, represent separate rules for each instantiation of the parameter.
• Terminals are written using typewriter font.
• The syntax is Lisp-like. In particular, case is not significant (for example, ?x and ?X are equivalent), parenthesis are an essential part of the syntax and have no semantic meaning in the extended BNF notation, and any number of whitespace characters (space, newline, tab, etc.) may occur between tokens.