pyrobosim.planning.pddlstream.utils

Utilities to connect world models with PDDLStream.

Functions

get_default_domains_folder()	Returns the default path to the folder containing PDDLStream domains.
get_default_stream_info_fn()	Gets a function that creates the default PDDLStream stream information dictionary.
get_default_stream_map_fn()	Gets a function that creates the default PDDLStream stream mappings dictionary given a pyrobosim.core.world.World object and a pyrobosim.core.robot.Robot object.
pddlstream_solution_to_plan(solution, robot)	Converts the output plan of a PDDLStream solution to a plan list compatible with plan execution infrastructure.
process_goal_specification(goal_literals, world)	Processes and validates a goal specification for planning.
replace_goal_literal_tuple(goal_literals, ...)	Utility function to replace the element of a goal literal tuple in place.
world_to_pddlstream_init(world, robot)	Converts a world representation object to a PDDLStream compatible initial condition specification.