pyrobosim.planning.pddlstream.planner.PDDLStreamPlanner.plan

PDDLStreamPlanner.plan(robot: Robot, goal_literals: list[tuple[str | Entity, ...]], max_attempts: int = 1, verbose: bool = False, **planner_config: Any) → TaskPlan | None

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 – Robot to use for planning.

• goal_literals – List of literals describing a goal specification.

• max_attempts – Maximum planning attempts.

• verbose – 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.