pyrobosim.planning.pddlstream.planner.PDDLStreamPlanner.__init__

PDDLStreamPlanner.__init__(world: ~pyrobosim.core.world.World, domain_folder: ~pathlib.Path, stream_map_fn: ~typing.Callable[[~pyrobosim.core.world.World, ~pyrobosim.core.robot.Robot], dict[str, ~typing.Any]] = <function get_stream_map>, stream_info_fn: ~typing.Callable[[], dict[str, ~typing.Any]] = <function get_stream_info>) → None

Creates a new PDDLStream based planner.

Parameters:

• world – World object to use for planning.

• domain_folder – Path to folder containing PDDL domain and streams

• stream_map_fn – Function that accepts a World and Robot object and returns a dictionary of stream mappings.

• stream_info_fn – Function that returns a dictionary of stream information.