pyrobosim.planning.pddlstream.planner.PDDLStreamPlanner.plan
- PDDLStreamPlanner.plan(robot, goal_literals, max_attempts=1, verbose=False, **planner_config)
Searches for a set of actions that completes a goal specification given an initial state of the world. This uses the “adaptive” planner in PDDLStream, which demonstrates the best performance for most problems.
- Parameters:
robot (
pyrobosim.core.robot.Robot) – Robot to use for planning.goal_literals (list[tuple]) – List of literals describing a goal specification.
max_attempts (int, optional) – Maximum planning attempts.
verbose (bool, optional) – If True, prints additional information. Defaults to False.
**planner_config – Additional keyword arguments to pass to the PDDLStream planner.
- Returns:
A task plan object ready to use with
pyrobosim.- Return type: