pyrobosim.planning.pddlstream

Tools for PDDLStream based task and motion planning.

This module contains tools associated with task and motion planning (TAMP) using the PDDLStream package. This includes a wrapper around PDDLStream algorithms, as well as mechanisms to integrate PDDL domains and PDDLStream stream definition files, along with their mappings to Python functions with the actual implementations.

Modules

pyrobosim.planning.pddlstream.default_mappings	Default mappings for PDDLStream functions, streams, and certificate tests that represent Task and Motion Planning for pick-and-place applications with a mobile manipulator.
pyrobosim.planning.pddlstream.planner	Task and Motion Planning tools using PDDLStream.
pyrobosim.planning.pddlstream.primitives	Helper primitives for PDDLStream based planning.
pyrobosim.planning.pddlstream.utils	Utilities to connect world models with PDDLStream.