I need a coder that knows how to write in PDDL the problem where the robot has to pick up objects and transfer them to desired locations.

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.