支持PDDL2.1语法（fluents和durative-action）的Planner有哪些？

[PDDL]planner 有什么planner可以同时支持:fluents 和:durative-actions要求的吗？

（ps.找不到pddl或者planning的标签？）

刚入门看samples和配套的Jan Dolejsi的youtube视频（vscode的PDDL插件里），发现没有planner可以运行这些samples。视频里这个作者Jan Dolejsi有的planning engine是metis 1，感觉应该是他自己的planner？

目前只能看到Optic可以同时支持这两个requirements，但是这个planner也没有办法运行。大家都是用的什么planner呢？
下面是运行Airport例子的时候Optic给出的报错：

Number of literals: 21
Constructing lookup tables: [10%] [20%] [30%] [40%] [50%] [60%]Error: A problem has been encountered, and the planner has to terminate.

---

Unfortunately, at present, the planner does not fully support ADL
unless in the rules for derived predicates. Only two aspects of
ADL can be used in action definitions:

• forall conditions, containing a simple conjunct of propositional and
  numeric facts;
• Conditional (when. ) effects, and then only with numeric conditions
  and numeric consequences on values which do not appear in the
  preconditions of actions.

To use this planner with your problem, you will have to reformulate it to
avoid ADL. Alternatively, if you have a particularly compelling case
for them, please contact the authors to discuss it with them, who may be able to
extend the planner to meet your needs.
Planner found 1 plan(s) in 0.1secs.

我尝试理解了一下，是因为Optic不支持全部的ADL。

最麻烦的是不支持not，需要所有的predicats再来一个not版。
但是这个具体要怎么操作呢？我不太理解这个逻辑。
比如action是关灯，需要把light_on从true设置为false，正常在effect中需要设置not (light_on）。如果不用not，就是把not_light_on从false设置为true，但是没有not这个功能，之前的light_on要怎么设置成false呢？

怎么才能运行这些sample呢？万分感谢！