Running on Mac OS X, Using the FastDownward package and IPC planners I need help with the beginning portion of the project I am trying to tackle. I know I will need to first write the domain file which defines the predicates and the actions necessary to solve this problem. I need help defining the following functions: MoveWithoutObject, MoveWithObject, Pickup, Release. I also want to write a problem instance file which defines the initial and goal state. The problem instance should correspond to the picture shown below. I am willing to write the full problem in a clear PDF document if that would be more helpful.