pyrobosim.planning.pddlstream.utils.world_to_pddlstream_init

pyrobosim.planning.pddlstream.utils.world_to_pddlstream_init(world: World, robot: Robot) → list[tuple[str | Pose | Entity | None, ...]]

Converts a world representation object to a PDDLStream compatible initial condition specification.

Parameters:

• world – World model.

• robot – Robot to use for planning.

Returns:

PDDLStream compatible initial state representation.