I would like to solve the sokoban puzzle : consists in moving acharacter in a 2D map to push boulders into target cells. Each turn,the player can move to an adjacent cell (no diagonals) if it is empty, or push a boulder one step further. To push a boulder, the player needs to stand next to it, and the space behind the boulder needs to be empty (no other boulders and no walls).
using the STRIPS planner and I am having a hard time defining the fixed and dynamic relations and also the preconditions and effects of each operator for this puzzle. Any help is appreciated.