pyrobosim.planning.pddlstream.utils.pddlstream_solution_to_plan

pyrobosim.planning.pddlstream.utils.pddlstream_solution_to_plan(solution: pddlstream.language.constants.Solution, robot: str) → TaskPlan | None

Converts the output plan of a PDDLStream solution to a plan list compatible with plan execution infrastructure.

Parameters:

• solution – PDDLStream compatible initial state representation.

• robot – Name of robot to execute plan.

Returns:

Task plan object if successful, else None.