# PDDL for Pick-and-Place Task

**URL:** <https://forum.hello-robot.com/t/pddl-for-pick-and-place-task/1405>\
**Category:** Ask\
**Created:** [November 3, 2025, 5:21pm UTC](https://forum.hello-robot.com/t/pddl-for-pick-and-place-task/1405 "2025-11-03T17:21:56Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![JonathanDistler25](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jonathandistler25/32/1144_2.png) [@JonathanDistler25](https://forum.hello-robot.com/u/JonathanDistler25)\
**Post date:** [November 3, 2025, 5:21pm UTC](https://forum.hello-robot.com/t/pddl-for-pick-and-place-task/1405/1 "2025-11-03T17:21:56Z")

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I wanted to create and then solve a PDDL plan and then carry it out with the Stretch Robot. I was wondering if there is any preexisting functionality for basic pick-and-place tasks?

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [November 4, 2025, 12:20am UTC](https://forum.hello-robot.com/t/pddl-for-pick-and-place-task/1405/2 "2025-11-04T00:20:13Z")

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Hey @JonathanDistler25, we don’t have any tutorials that demonstrate carrying out a PDDL plan on Stretch. I’d suggest piecing together a few tutorials to achieve your goal. I’ve found this PDDL tutorial pretty good: [Getting Started with PDDL | LearnPDDL](https://fareskalaboud.github.io/LearnPDDL)

On the Stretch side, I’d recommend writing a ROS2 node who’s job it is to parse the solution and call the services/topics you need. To get a sense of what primitive behaviors exist, I’d recommend checking out our Nav2 tutorial: [Demo 1 - Mapping & Navigation - Stretch Docs](https://docs.hello-robot.com/0.3/getting_started/demos_mapping_and_navigation/) or our Stretch AI tutorial: [GitHub - hello-robot/stretch\_ai](https://github.com/hello-robot/stretch_ai)

Let me know if you have any questions.

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**Author:** ![JonathanDistler25](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jonathandistler25/32/1144_2.png) [@JonathanDistler25](https://forum.hello-robot.com/u/JonathanDistler25)\
**Post date:** [February 6, 2026, 8:42pm UTC](https://forum.hello-robot.com/t/pddl-for-pick-and-place-task/1405/3 "2026-02-06T20:42:15Z")

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The hardware requirements for the Stretch AI tutorial suggested RE3, but does it still work for the RE1 model?

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [February 6, 2026, 9:15pm UTC](https://forum.hello-robot.com/t/pddl-for-pick-and-place-task/1405/4 "2026-02-06T21:15:08Z")

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Some of the Stretch AI “apps” require the eye-in-hand camera, which isn’t present on the older RE1 model. But navigation and perception apps based on the pan/tilt head should work just fine.