initial commit

domain.pddl

+(define (domain turtlebot3-domain)
+
+  (:types
+    room robot item
+  )
+
+  (:predicates
+    (at ?rbt - robot ?rm - room)
+    (in ?itm - item ?rm - room)
+    (holding ?rbt - robot ?itm - item)
+    (hand_empty ?rbt - robot)
+  )
+
+  (:action move
+    :parameters (?rbt - robot ?from - room ?to - room)
+    :precondition ; Fill out this
+    :effect ; Fill out this
+  )
+
+  (:action pick
+    :parameters(?rbt - robot ?rm - room ?itm - item)
+    :precondition ; Fill out
+    :effect ; Fill out this
+  )
+
+  (:action place
+    :parameters(?rbt - robot ?rm - room ?itm - item)
+    :precondition ; Fill out this
+    :effect ; Fill out this
+  )
+)
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sample-problem.pddl

+(define (problem moveitemtoroom)
+  (:domain turtlebot3-domain)
+  (:objects
+    turtlebot - robot
+    initial-room - room
+    living-room - room
+    kitchen - room
+    apple banana - item
+  )
+
+  (:init
+    (at turtlebot initial-room)
+    (in apple kitchen)
+    (in banana living-room)
+    (hand_empty turtlebot)
+  )
+
+  (:goal
+    (in apple living-room)
+  )
+)
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