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Task and motion planning involves the development of a plan that includes both symbolic actions and the physical motions that correspond to those actions. PDDL- Stream is a planner that integrates both task and motion planning by generating motion plans through streams and representing them as symbolic facts that are part of the corresponding actions. It is possible that some motion plans may not be valid in the initial state of the system but may become viable if certain changes occur over the system. PDDLStream introduces the concept of conditional streams which address the issue of certifying the validity of motion plans in the presence of changes in the system. Conditional streams generate facts, which represent the existence of motion plans that are subject to validation under certain conditions. These facts serve as prerequisites for the corresponding conditional actions. Additionally, the conditions that validate the motion plans are included in the preconditions section of conditional actions. This guarantees that when the symbolic facts representing the motion plans are used in the task plan, the changes to the system that validate the motion plans are available. The ability to generate conditional motion plans for future states of a system allows PDDLStream to address specific types of problems as evidenced by experimental results with successful task plans.

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