pyrobosim.planning.pddlstream.planner.PDDLStreamPlanner.__init__

PDDLStreamPlanner.__init__(world, domain_folder, stream_map_fn=<function get_stream_map>, stream_info_fn=<function get_stream_info>)

Creates a new PDDLStream based planner.

Parameters:

  • world (pyrobosim.core.world.World) – World object to use for planning.

  • domain_folder (str) – Path to folder containing PDDL domain and streams

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

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